Autonomous mobile body control system and autonomous mobile body control method

Abstract

To secure the safety in buildings where an autonomous mobile body exists in response to the occurrence of earthquake.SOLUTION: An autonomous mobile body control system includes: an estimation part that estimates a current building vibration state based on earthquake state information indicating a state of earthquake that has occurred; and an autonomous mobile body control part that, upon determination that the building vibration state estimated by the estimation part is stronger than a predetermined level, performs control so that an autonomous mobile body in the building is caused to move to a predetermined evacuation position.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an autonomous mobile object control system and an autonomous mobile object control method. [Background technology]

[0002] There is known a technique for moving a fire extinguishing robot to the location where a fire has occurred (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6614600 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, in the event of an earthquake or the like, it is preferable to ensure safety in a building in which an autonomously moving body that moves autonomously is present.

[0005] An object of the present invention is to maintain safety in a building in which an autonomous mobile object that moves autonomously in response to the occurrence of an earthquake exists. [Means for solving the problem]

[0006] One aspect of the present invention that solves the above-mentioned problems is an autonomous mobile body control system that includes an estimation unit that estimates the current shaking state of a building based on earthquake state information that indicates the state of an earthquake that has occurred, and an autonomous mobile body control unit that, when it is determined that the shaking state of the building estimated by the estimation unit is of a predetermined strength or greater, controls an autonomous mobile body present in the building to move to a predetermined evacuation position.

[0007] An autonomous mobile body control method in an autonomous mobile body control system, comprising: an estimation step in which an estimation unit estimates the current shaking state of a building based on earthquake state information indicating the state of an earthquake that has occurred; and an autonomous mobile body control step in which, when an autonomous mobile body control unit determines that the shaking state of the building estimated by the estimation step is of a predetermined strength or greater, controls an autonomous mobile body present in the building to move to a predetermined evacuation position. [Effects of the Invention]

[0008] According to the present invention, it is possible to obtain an effect that safety can be maintained in a building in which an autonomous moving body that moves autonomously in response to the occurrence of an earthquake exists. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an example of the overall configuration of an autonomous mobile object control system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram illustrating an example of the functional configuration of an autonomous moving body according to the present embodiment. [Figure 3] FIG. 2 is a diagram illustrating an example of the functional configuration of an autonomous mobile object control device according to the present embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a processing procedure executed by an autonomous mobile body control device in the present embodiment. [Figure 5] FIG. 2 is a diagram illustrating an example of a processing procedure executed by an autonomous mobile body control device in the present embodiment. [Figure 6] FIG. 10 is a diagram illustrating an example of a processing procedure executed by an autonomous moving body in this embodiment. [Figure 7] 10A and 10B are diagrams illustrating parameters used in calculating the tipping resistance and torque of an autonomous moving body in this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] 1 shows an example of the overall configuration of an autonomous mobile object control system according to this embodiment. The autonomous mobile object control system according to this embodiment controls the movement of one or more autonomous mobile objects 100 in a building 1.

[0011] The autonomous mobile body control system of this embodiment includes an autonomous mobile body control device 200. The autonomous mobile body control device 200 controls the movement of the autonomous mobile bodies 100 within a building 1. The autonomous mobile body control device 200 is connected to each of the autonomous mobile bodies 100 within the building 1 so as to be able to communicate with each other. In the figure, the autonomous mobile control device 200 is provided inside the building 1, but it may also be provided outside the building 1. When the autonomous mobile control device 200 is provided outside the building 1, it may be provided as a cloud server on a network.

[0012] A vibration sensor 300 is provided in the building 1. The vibration sensor 300 detects the state of vibration occurring in the building 1. In other words, when an earthquake occurs, the vibration sensor 300 functions as a seismic intensity meter that detects the state of vibration of the building 1 in response to shaking caused by the earthquake. Specifically, the vibration sensor 300 may be attached to a predetermined position on the building 1, and may detect acceleration in a predetermined direction occurring within the vibration sensor 300 itself. The vibration sensor 300 is communicably connected to the autonomous mobile body control device 200, and transmits sensor information indicating the detected state of vibration to the autonomous mobile body control device 200.

[0013] In this embodiment, the autonomous mobile object control device 200 may be communicably connected to an earthquake warning system 400 operated by, for example, a government agency or a private entity. The earthquake warning system 400 transmits an earthquake warning as an emergency earthquake alert in response to an earthquake occurring within a predetermined area. The transmitted earthquake warning may include information such as the epicenter in addition to the measured seismic intensity. The autonomous mobile control device 200 may receive an earthquake warning transmitted from the earthquake warning system 400.

[0014] When an earthquake occurs, for example, if an autonomous mobile body 100 operating in building 1 is autonomously moving along a planned route as in normal times, it may hinder the movement of people within building 1, thereby compromising safety. Therefore, the autonomous mobile body control system of this embodiment moves the autonomous mobile body 100 to a safe location within building 1 in response to the occurrence of an earthquake, thereby ensuring safety within building 1.

[0015] Furthermore, if an earthquake occurs, the autonomous moving body 100 may be more likely to fall over due to the shaking of the building 1, which also reduces the safety within the building 1. Therefore, the autonomous mobile body control system of this embodiment is configured to control the torque that drives the wheels of the movement mechanism of the autonomous mobile body 100 in response to the swaying of the building 1. By controlling the torque of the wheels, the force that tends to cause the autonomous mobile body 100 to tip over due to the swaying of the building 1 is alleviated, making it possible to prevent the autonomous mobile body 100 from tipping over.

[0016] 2 shows an example of the functional configuration of the autonomous moving body 100. The autonomous moving body 100 in the figure includes a communication unit 101, an ambient environment sensor 102, a movement mechanism unit 103, a user interface unit 104, a control unit 105, a memory unit 106, and a vibration sensor 107.

[0017] The communication unit 101 communicates with the autonomous mobile object control device 200 .

[0018] The ambient environment sensor 102 is a sensor that detects the ambient environment (surrounding shape). In this embodiment, LiDAR (Light Detection and Ranging) may be used as a technology for grasping the surrounding shape for autonomous driving. In this case, the ambient environment sensor 102 includes a laser light emitting unit and a light receiving unit that receives the reflected laser light. The ambient environment sensor 102 measures the distance based on the time it takes for the reflected light obtained by irradiating the surroundings with pulsed laser light to be received by the light receiving unit. In other words, the ambient environment sensor 102 can recognize the distance to surrounding objects. The ambient environment sensor 102 is configured to generate ambient environment data indicating the shape of the surrounding environment based on the measured distance, and to estimate its own position using the generated ambient environment data.

[0019] The movement mechanism 103 is a drive mechanism that enables movement of the autonomous moving body 100. The movement mechanism 103 may be configured to enable the autonomous moving body 100 to move forward and backward, as well as to change direction to the left and right.

[0020] The user interface unit 104 includes an input device that allows the user to input information by operating it. The input device may be, for example, a pressable button or a microphone that collects the user's voice. The user interface unit 104 may also include a speaker that can emit sounds or voices. The user interface unit 104 may also include a lighting unit, a display unit, or the like that can display light or images.

[0021] The control unit 105 executes various controls on the autonomous moving body 100. For example, the control unit 105 may control the movement mechanism unit 103 to perform an operation in accordance with an input from a user to an input device. When a microphone is used as an input device for the user interface unit 104, the control unit 105 may perform voice recognition on the voice collected by the microphone and control the autonomous moving body 100 to perform an action in response to the recognition result. Furthermore, the control unit 105 may output sound from a speaker of the user interface unit 104 or display information on a display unit of the user interface unit 104 as an output in response to an input from the user to an input device. The function of the control unit 105 may be realized by a central processing unit (CPU) provided as hardware in the autonomous moving body 100 executing a program.

[0022] The control unit 105 of this embodiment includes a torque control unit 151 and a warning control unit 152. The torque control unit 151 controls the torque applied to the wheels of the movement mechanism unit 103 to be changed based on the state of shaking of the autonomous moving body 100 detected by the shaking sensor 107 . The warning control unit 152 controls the speaker, display unit, lighting unit, etc. provided in the user interface unit 104 so that a warning is issued to those around.

[0023] The storage unit 106 stores various types of information corresponding to the autonomous moving body 100. The storage unit 106 includes a map storage unit 161. The map storage unit 161 stores map data of the building 1. When the autonomous moving body 100 moves autonomously, the map is referenced by the control unit 105, for example, by comparing it with surrounding environment data.

[0024] The vibration sensor 107 detects the state of vibration occurring in the autonomous moving body 100. When an earthquake is occurring, the state of vibration detected by the vibration sensor 107 may be treated as the state of vibration of the floor caused by the earthquake.

[0025] 3 shows an example of the functional configuration of the autonomous mobile body control device 200. The autonomous mobile body control device 200 in the figure includes a communication unit 201, a control unit 202, and a storage unit 203. The communication unit 201 is connected to the autonomous moving body 100 and the vibration sensor 300 so as to be able to communicate with them.

[0026] The control unit 202 executes control in the autonomous mobile body controlling device 200. The functions of the control unit 202 are realized by a CPU provided as hardware in the autonomous mobile body controlling device 200 executing a program.

[0027] The control unit 202 includes an estimation unit 221 and an autonomous mobile object control unit 222 . The estimation unit 221 estimates the current shaking state of the building 1 based on the sensor information output by the shaking sensor 300 provided in the building 1 and the earthquake warning transmitted from the earthquake warning system 400. The autonomous mobile body control unit 222 controls the operation of the autonomous mobile body 100 in the building 1. As control over the operation of the autonomous mobile body 100, the autonomous mobile body control unit 222 may set a destination based on, for example, the role or operation schedule of the autonomous mobile body 100, and instruct the autonomous mobile body 100 to move to the set destination. In this embodiment, the destination may include an evacuation location determined as a location to which the autonomous mobile body 100 should move in the event of an earthquake.

[0028] The storage unit 203 stores various types of information corresponding to the autonomous mobile body controlling device 200. The storage unit 203 includes a map storage unit 231. The map storage unit 231 stores map data of the building 1. The map stored in the map storage unit 161 may be used by the autonomous mobile body control unit 222 to determine an evacuation position to which the autonomous mobile body 100 should move in response to the occurrence of an earthquake.

[0029] In the autonomous mobile body control system of this embodiment, in order to increase safety within the building 1 in response to the occurrence of an earthquake, the autonomous mobile body control device 200 performs control to move the autonomous mobile body 100 to an evacuation position within the building 1 (evacuation position movement control). Also, in the autonomous mobile body control system of this embodiment, in order to increase safety within the building 1 in response to the occurrence of an earthquake, the autonomous mobile body 100 performs control to change the torque applied to the wheels of the movement mechanism unit 103 in response to the shaking state of the building 1 (earthquake response torque control).

[0030] 4 and 5 correspond to example processing procedures executed by the autonomous mobile body controlling device 200 in relation to the retreat position movement control. Fig. 4 shows an example processing procedure, as the retreat position movement control, in which the autonomous mobile body controlling device 200 determines whether or not it is necessary to move the autonomous mobile body 100 to the retreat position. Fig. 5 shows an example processing procedure in accordance with control in which the autonomous mobile body controlling device 200 moves the autonomous mobile body 100 to the retreat position in response to a determination that it is necessary to move the autonomous mobile body 100 to the retreat position.

[0031] First, the example of the processing procedure in FIG. 4 will be described. Step S100: In the autonomous mobile object controlling device 200, the autonomous mobile object control unit 222 constantly acquires sensor information output by the vibration sensor 300 provided in the building 1. Specifically, the autonomous mobile object control unit 222 may periodically acquire the sensor information output by the vibration sensor 300 at a predetermined cycle.

[0032] Step S102: The autonomous mobile object control unit 222 performs real-time waveform processing on the sensor information acquired in step S100. Through the real-time waveform processing, for example, the current state of shaking inside the building 1 is obtained as an acceleration value corresponding to the shaking in each predetermined direction (for example, the horizontal direction, the vertical direction).

[0033] Step S104: Furthermore, in parallel with the processing of steps S100 and S102, if an earthquake warning is transmitted from the earthquake warning system 400, the autonomous mobile object control unit 222 acquires the transmitted earthquake warning.

[0034] Step S106: Based on the information on the seismic intensity and epicenter indicated in the acquired earthquake warning, the autonomous mobile object control unit 222 predicts the building response (earthquake response) of the building 1. Depending on the building response, for example, the response acceleration, speed, displacement, etc. of the building 1 can be calculated.

[0035] Step S108: The autonomous mobile control unit 222 estimates the current shaking state of the building 1 based on the shaking state obtained by the real-time waveform processing in step S102 and the prediction of the building response in step S106. Specifically, the autonomous mobile control unit 222 may use an index value that quantifies the degree of shaking of the building 1 as the estimated result of the shaking state. For example, depending on the relationship between the epicenter and the location of building 1, it is possible that the vibration sensor 300 of building 1 obtains significant sensor information, but no earthquake warning is transmitted from the earthquake warning system 400. In this case, the autonomous mobile object control unit 222 may estimate the current shaking state of building 1 using the result of the real-time waveform processing obtained in step S102, without using the predicted result of the building response in step S106. Alternatively, in some cases, a situation may arise in which the vibration sensor 300 of the building 1 does not obtain any significant sensor information, but an earthquake warning is transmitted from the earthquake warning system 400. In this case, the autonomous mobile object control unit 222 may estimate the current shaking state of the building 1 using the predicted result of the building response in step S106, without using the result of the real-time waveform processing obtained in step S102.

[0036] Step S110: The autonomous mobile body control unit 222 determines whether or not it is currently necessary for the autonomous mobile body 100 to evacuate to an evacuation position based on the estimation result of step S108. The autonomous mobile body control unit 222 may determine that evacuation is necessary if the shaking state estimated in step S108 indicates a predetermined strength or greater, and may determine that evacuation is not necessary if the strength is less than the predetermined strength. Specifically, if an index value indicating the degree of shaking of the building 1 is obtained as the estimation result in step S108, the autonomous mobile body control unit 222 may determine whether or not evacuation is necessary based on whether or not the index value is equal to or greater than a predetermined threshold (first threshold). Furthermore, once it has been determined that evacuation is necessary, the autonomous mobile body control unit 222 may determine whether or not evacuation is necessary based on whether or not the index value is equal to or less than a second threshold different from the first threshold. For example, by setting the second threshold lower than the first threshold, it is possible to appropriately determine whether or not evacuation is necessary in response to the occurrence of an earthquake in which the degree of shaking decreases over a certain period of time.

[0037] Next, an example of the processing procedure will be described with reference to Fig. 5. The processing in Fig. 5 starts in step S110 in Fig. 5 under the condition that it has been determined that no saving is necessary up to this point. Step S200: In the autonomous mobile body control device 200, the autonomous mobile body control unit 222 determines whether the current status of the determination result from step S110 in Figure 5 has changed from a state in which evacuation was previously not required to a state in which evacuation is required. If the current determination result in step S110 is that evacuation is not necessary, as before, the autonomous mobile object control unit 222 ends the processing in the same figure and starts the processing from step S200 at a predetermined periodic timing, for example.

[0038] Step S202: If it is determined in step S200 that the determination has changed to one indicating that evacuation is necessary, the autonomous mobile body control unit 222 acquires the current position of the autonomous mobile body 100 by communicating with the autonomous mobile body 100.

[0039] Step S204: The autonomous mobile body control unit 222 determines a retreat position for the autonomous mobile body 100 by comparing the current position of the autonomous mobile body 100 acquired in step S202 with the map of the building 1 stored in the map storage unit 231. As a specific example, the autonomous mobile body control unit 222 may determine, as the evacuation position of the autonomous mobile body 100, the evacuation position closest to the current position acquired in step S202 from among the evacuation positions defined in advance on the map of the building 1. Alternatively, the autonomous mobile body control unit 222 may, for example, acquire the distribution of people in the building 1. The distribution of people in the building 1 may be obtained based on the results of person detection by cameras, beacons, or the like provided in various locations in the building 1. Then, the autonomous mobile body control unit 222 may determine, as the evacuation position, a position on the map of the building 1 that corresponds to a location where no people are present.

[0040] Step S206: The autonomous mobile body control unit 222 transmits an earthquake response mode instruction to the autonomous mobile body 100 via communication with the autonomous mobile body 100. The earthquake response mode is a mode in which the autonomous mobile body 100 operates in response to the occurrence of an earthquake. The transmitted earthquake response mode instruction includes evacuation position information indicating the evacuation position determined in step S204.

[0041] Step S208: After sending an earthquake response mode instruction to the autonomous mobile body 100 in step S206, the autonomous mobile body control unit 222 waits for the judgment result in step S110 to change from the previous judgment that evacuation is necessary to the judgment that evacuation is no longer necessary.

[0042] Step S210: In response to the change in the determination content to indicate that evacuation is not necessary, the autonomous mobile body control unit 222 transmits an earthquake response mode cancellation instruction to the autonomous mobile body 100 via communication with the autonomous mobile body 100.

[0043] Next, an example of a processing procedure executed by the autonomous moving body 100 in relation to earthquake response torque control will be described with reference to the flowchart of FIG. Step S300: In the autonomous mobile body 100, the control unit 105 receives the earthquake response mode instruction transmitted from the autonomous mobile body control device 200 in step S206 of FIG.

[0044] Step S302: In response to receiving the earthquake response mode instruction, the control unit 105 sets the earthquake response mode instead of the normal mode. In the earthquake response mode, the autonomous mobile body 100 sets the evacuation position included in the received earthquake response mode instruction as the destination instead of the destination specified in the normal situation.

[0045] Step S304: Furthermore, in response to receiving the earthquake response mode instruction, the control unit 105 stores the current position in the storage unit 203. The current position thus stored becomes the position (return position) to which the autonomous moving body 100 should return when the earthquake response mode is released and normal operation is resumed.

[0046] Step S306: The control unit 105 starts the traveling of the autonomous mobile body 100 so as to move the evacuation position set as the destination in step S302. At this time, the control unit 105 may control the traveling mechanism unit 103 so that the autonomous mobile body 100 travels at a speed slower than normal for safety reasons, for example.

[0047] Step S308: After starting the movement to the evacuation position in step S306, the control unit 105 determines whether or not an earthquake response mode release instruction has been received.

[0048] Step S310: If it is determined in step S308 that the earthquake response mode cancellation instruction has not been received, the control unit 105 determines whether or not the autonomous moving body 100 has reached the evacuation position. If the autonomous moving body 100 has not reached the evacuation position, the process returns to step S308.

[0049] Step S312: If it is determined in step S310 that the autonomous mobile body 100 has reached the evacuation position, the control unit 105 stops the autonomous mobile body 100 from traveling. In this case, while the autonomous mobile body 100 is stopped from traveling, the wheels of the movement mechanism unit 103 are not locked, and are allowed to rotate in both forward and reverse directions in response to torque applied to the wheels in response to shaking caused by an earthquake. In other words, the autonomous mobile body 100 that has reached the evacuation position does not travel to move to the destination, but is able to move in response to torque applied to the wheels.

[0050] In step S312, the torque control unit 151 performs earthquake torque control by controlling the torque T applied to the wheels so that it is equal to or less than the tipping resistance Q of the autonomous moving body 100. The overturning resistance Q is expressed by the following equation 1. Q = MgB / 2 (Equation 1) In the above formula 1, M is the weight of the entire autonomous moving body 100. For example, if the autonomous moving body 100 is carrying luggage, the total weight is calculated by adding the weight of the autonomous moving body 100 itself and the weight of the luggage. g is the gravitational acceleration. B is the wheel spacing (wheel spacing) of the moving mechanism unit 103. When the weight M is known, the tipping resistance Q may be calculated by substituting the known weight M, and the calculated value may be stored in the storage unit 106. Alternatively, the tipping resistance Q may be measured by the autonomous moving body 100 itself. In this case, the autonomous moving body 100 may measure the tipping resistance Q at a predetermined timing corresponding to the start of operation, for example, or in real time.

[0051] Furthermore, the torque T is expressed by the following equation 2. T=M(a g +a x )H...(Formula 2) a g is the floor shaking acceleration. x is the movement acceleration of the autonomous moving body 100. H is the height of the center of gravity G of the autonomous moving body 100. Figure 7 shows the parameters in the above formulas 1 and 2 (the distance B between the wheels WH, the floor shaking acceleration a g, the movement acceleration a of the autonomous moving body 100 x , and the height H of the center of gravity G of the autonomous moving body 100 are shown in correspondence with the appearance of the autonomous moving body 100. The torque control unit 151 converts the movement acceleration detected by the vibration sensor 107 into the floor vibration acceleration a g Substitute this into equation 2.

[0052] The torque control unit 151 controls the torque T so that the torque T does not exceed the overturning resistance Q. At this time, the shaking acceleration a of the floor due to the shaking of the building 1 in response to the occurrence of an earthquake g increases and the torque T temporarily exceeds the tipping resistance Q, the torque control unit 151 adjusts the movement acceleration a of the autonomous moving body 100 so that the torque T is equal to or less than the tipping resistance Q. x Change the moving acceleration a x At this time, the wheels of the autonomous moving body 100 rotate in the direction opposite to the direction of rotation up until now, and the autonomous moving body 100 moves in the opposite direction from before.

[0053] By performing the earthquake response torque control as described above in step S312, the autonomous moving body 100 can move in a location corresponding to the evacuation position while appropriately changing direction in response to shaking of the floor so as not to tip over. After the process of step S312, the process returns to step S308.

[0054] Step S314: If it is determined in step S308 that an instruction to cancel the earthquake response mode has been received, the control unit 105 cancels the earthquake response mode set in step S302 and returns to the normal mode.

[0055] Step S316: When the earthquake response mode is cancelled and the autonomous mobile body 100 returns to the normal mode, the autonomous mobile body 100 has either reached the return position or is located midway along the path to the return position. Therefore, the control unit 105 moves the autonomous mobile body 100 to the return position stored in the storage unit 106 in step S304.

[0056] The control unit 105 may control the autonomous mobile body 100 to stop traveling as appropriate while the autonomous mobile body 100 is moving to the evacuation position, depending on, for example, the state of shaking or the status of obstacles present in the surroundings. Then, the torque control unit 151 may perform earthquake response torque control to prevent the autonomous mobile body 100 from tipping over when the autonomous mobile body 100 stops traveling on the route to the evacuation position. The torque control unit 151 may be capable of independently executing earthquake response torque control even when the earthquake response mode is not set in response to an instruction from the autonomous mobile body control device 200 .

[0057] Note that the warning control unit 152 of the control unit 105 may perform control to issue a warning from the time when the autonomous moving body 100 starts moving to the evacuation position in step S306 until the earthquake response mode is released in step S314. Specifically, the warning control unit 152 may output a warning sound from a speaker in the user interface unit 104 in response to the distance to a surrounding object measured by the ambient environment sensor 102 becoming equal to or less than a predetermined value. The warning control unit 152 may also issue a warning by lighting or displaying a lamp, a display unit, or the like in the user interface unit 104. Issuing a warning in this manner can prevent, for example, a person in the building 1 from accidentally coming into contact with the autonomous moving body 100. Furthermore, the warning control unit 152 may also issue a warning, for example, after the earthquake response mode is cancelled in step S314 and movement to the return position is started in step S316, until the return position is reached. The warning control unit 152 may also perform control so that a warning is issued when it is determined that the autonomous moving body 100 is in a state where it is likely to fall over.

[0058] In the processing procedure example of Figure 4, when the autonomous mobile body control device 200 determines whether or not it is necessary to move the autonomous mobile body 100 to an evacuation position based on the earthquake state information, two pieces of information can be used as the earthquake state information: sensor information from the vibration sensor 300 installed in the building 1 and an earthquake warning sent by the earthquake warning system 400. The autonomous mobile body control device 200 may be configured to use either the sensor information from the vibration sensor 300 or an earthquake warning as earthquake state information, and determine whether or not the autonomous mobile body 100 needs to move to a shelter position based on that information.

[0059] After acquiring the earthquake state information, the autonomous mobile body 100 may be set to an earthquake response mode, and may be able to move to a shelter position and perform earthquake response torque control in a self-contained manner.

[0060] Note that a program for implementing the functions of the autonomous mobile body 100, the autonomous mobile body control device 200, etc., may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be loaded into a computer system and executed to perform the processing of the autonomous mobile body 100, the autonomous mobile body control device 200, etc. Here, "loading a program recorded on a recording medium into a computer system and executing it" includes installing the program on a computer system. The term "computer system" here includes hardware such as an OS and peripheral devices. The term "computer system" may also include multiple computer devices connected via a network, including communication lines such as the Internet, WAN, LAN, and dedicated lines. The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as HDDs and SSDs built into a computer system. Thus, a recording medium storing a program may be a non-transitory recording medium such as a CD-ROM. The recording medium may also include internal or external recording media accessible from a distribution server to distribute the program. The program code stored on the distribution server's recording medium may be different from the program code in a format executable by a terminal device. In other words, the format in which the program is stored on the distribution server does not matter as long as it can be downloaded from the distribution server and installed in a form that is executable on the terminal device. The program may be divided into multiple parts, each of which may be downloaded at different times and then combined on the terminal device, or each of the divided programs may be distributed by a different distribution server. Furthermore, the term "computer-readable recording medium" also includes a storage medium that stores a program for a certain period of time, such as volatile memory (RAM) within a computer system that serves as a server or client when a program is transmitted over a network. The program may also be one that realizes part of the functions described above.Furthermore, the above-mentioned functions may be realized in combination with a program already recorded in the computer system, that is, a so-called differential file (differential program).

[0061] The Sustainable Development Goals (SDGs) are 17 international goals adopted at the United Nations Summit in September 2015. The autonomous mobile control system according to this embodiment can contribute to achieving one of the 17 SDGs, for example, goal 9, "Build resilient infrastructure, promote inclusive and sustainable industrialization, and foster innovation." [Explanation of symbols]

[0062] 1 Building, 100 Autonomous mobile body, 101 Communication unit, 102 Surrounding environment sensor, 103 Moving mechanism unit, 104 User interface unit, 105 Control unit, 106 Memory unit, 107 Vibration sensor, 151 Torque control unit, 152 Warning control unit, 161 Map memory unit, 200 Autonomous mobile body control device, 201 Communication unit, 202 Control unit, 203 Memory unit, 221 Estimation unit, 222 Autonomous mobile body control unit, 231 Map memory unit, 300 Vibration sensor, 400 Earthquake warning system

Claims

1. an estimation unit that estimates the current shaking state of the building based on earthquake state information that indicates the state of the earthquake that has occurred; an autonomous mobile body control unit that controls an autonomous mobile body present in the building to move to a predetermined evacuation position when it is determined that the shaking state of the building estimated by the estimation unit is at or above a predetermined strength; An autonomous mobile control system comprising:

2. The autonomous mobile body control unit determines an evacuation position to which the autonomous mobile body is moved based on the position of the autonomous mobile body acquired at the time when it is determined that the shaking state of the building is at or above a predetermined strength and a map showing evacuation positions defined in the building. The autonomous mobile control system according to claim 1 .

3. The autonomous moving body control unit controls the autonomous moving body to move to the evacuation position in response to determining that the strength of the shaking state of the building has changed to a predetermined value or less.

3. The autonomous mobile control system according to claim 1 or 2.

4. In the autonomous moving body, a sensor unit that detects floor vibration acceleration and acceleration of the autonomous moving body, which are used to calculate torque applied to wheels of the autonomous moving body; a torque control unit that controls the torque so that the torque is equal to or less than the tipping resistance strength of the autonomous moving body when the autonomous moving body has reached the evacuation position and has stopped traveling; 3. The autonomous mobile control system according to claim 1, further comprising:

5. The torque control unit controls the torque in a state where the autonomous moving body stops traveling on a path until the autonomous moving body moves to the retreat position. The autonomous mobile control system according to claim 4 .

6. a warning control unit that outputs a warning sound in response to determining that a predetermined state has occurred in the autonomous moving body; 3. The autonomous mobile control system according to claim 1 or 2.

7. The earthquake state information is information indicating the state of shaking of the building detected by a shaking sensor installed in the building.

3. The autonomous mobile control system according to claim 1 or 2.

8. The earthquake status information is information about an earthquake transmitted by an external earthquake warning system.

3. The autonomous mobile control system according to claim 1 or 2.

9. An autonomous mobile object control method in an autonomous mobile object control system, comprising: an estimation step in which an estimation unit estimates a current shaking state of the building based on earthquake state information indicating the state of the earthquake that has occurred; an autonomous mobile body control step of controlling an autonomous mobile body present in the building to move to a predetermined evacuation position when the autonomous mobile body control unit determines that the shaking state of the building estimated by the estimation step is at or above a predetermined strength; An autonomous moving body control method comprising:

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