Autonomous movement system, autonomous movement method, and storage medium

Abstract

The present invention relates to an autonomous mobility system, an autonomous mobility method, and a storage medium. The autonomous mobility system according to this embodiment is configured to autonomously move within a facility having a corner in a passageway. When the autonomous mobility system turns at the corner, the system calculates the radius of the corner in its travel path based on obstacles captured in image data from a camera capturing an exit at the corner.

Description

Technical Field

[0001] The present invention relates to an autonomous movement system, an autonomous movement method and a storage medium. Background Art

[0002] Japanese Patent No. 4245887 (JP 4245887 B) describes a transport robot that turns around a corner to travel. Summary of the Invention

[0003] Transport robots typically travel along the shortest possible route. However, when a transport robot makes a tight turn around a corner to avoid the shortest possible route, it may collide with a person or another transport robot. There is a need for an autonomous mobility system that can navigate locations such as corners while achieving both efficiency and safety.

[0004] The present invention aims to solve such problems and provides an autonomous movement system, an autonomous movement method, and a storage medium capable of traveling while achieving efficiency and safety.

[0005] The autonomous mobile system according to this embodiment is an autonomous mobile system that autonomously moves in a facility having a corner between passageways. When the autonomous mobile system turns at the corner, the system calculates the size of the corner radius of the turn in the driving path based on obstacles captured in image data from a camera capturing an image of the exit of the corner, and then turns at the corner with the calculated corner radius. With this configuration, the autonomous mobile system can travel while achieving both efficiency and safety.

[0006] In the autonomous mobile system, the autonomous mobile system may calculate the size of the corner radius based on the ratio of the space occupied by the obstacle in the image data. With this configuration, efficiency and safety can be achieved according to the degree of congestion.

[0007] In the above-mentioned autonomous mobile system, the autonomous mobile system can calculate the size of the corner radius according to the type of the obstacle in the image data. With this configuration, efficiency and safety can be achieved according to the priority, size, etc. of the obstacle.

[0008] In the autonomous mobility system described above, the corner may be configured by a first path extending in one direction and a second path extending in another direction intersecting the one direction, and the autonomous mobility system may calculate the corner radius of the travel path provided along the outer edges of the first and second paths at the corner based on the type of obstacle in the image data. With this configuration, the autonomous mobility system can navigate obstacles of relatively large widths.

[0009] In the autonomous mobile system, the corner may be configured by a first channel extending in one direction and a second channel extending in another direction intersecting the one direction. When the autonomous mobile system is unable to acquire image data, the autonomous mobile system may calculate the corner radius of the travel path provided along an outer edge of the outside of the first channel and the second channel at the corner, and travel along the outer edge on the travel path. With this configuration, efficiency and safety can be achieved even when image data cannot be acquired.

[0010] In the above autonomous mobile system, the system can be in standby mode near the connection point between the outer edge of the outer side of the first passage and the outer edge of the outer side of the second passage. This configuration improves the safety of other parties passing through the autonomous mobile system when the system passes through a wide obstacle.

[0011] In the autonomous mobile system, the autonomous mobile system may calculate a moving speed based on the obstacle captured in the image data, and turn at the corner at the calculated moving speed. With this configuration, driving efficiency can be improved.

[0012] The autonomous mobile system according to this embodiment includes: an autonomous mobile device that autonomously moves in a facility having a corner of a passageway; a facility camera that is fixed in the facility and captures an image of the exit of the corner to generate image data; and a server device that transmits and receives driving information to and from the autonomous mobile device and acquires the image data from the facility camera. When the autonomous mobile device turns at the corner, the server device calculates the size of the corner radius of the turn in the autonomous mobile device's driving path based on obstacles captured in the image data of the camera that captured the image of the exit of the corner, and the autonomous mobile device turns at the corner with the calculated corner radius. With this configuration, the autonomous mobile system is able to travel while achieving both efficiency and safety.

[0013] In the autonomous mobility system, the server device may calculate the size of the corner radius based on the ratio of the space occupied by the obstacle in the image data. With this configuration, efficiency and safety can be achieved according to the degree of congestion.

[0014] In the autonomous mobility system, the server device may calculate the size of the corner radius according to the type of the obstacle in the image data. With this configuration, efficiency and safety can be achieved according to the priority, size, etc. of the obstacle.

[0015] In the autonomous mobility system described above, the corner may be configured by a first path extending in one direction and a second path extending in another direction intersecting the first direction, and the server device may calculate the corner radius providing the travel path along the outer edges of the first and second paths at the corner based on the type of obstacle in the image data. With this configuration, the autonomous mobility system can navigate obstacles of relatively large widths.

[0016] In the autonomous mobility system, the corner may be configured by a first channel extending in one direction and a second channel extending in another direction intersecting the first direction. When the server device cannot acquire image data, the server device may calculate the corner radius of the travel path provided along an outer edge of the outside of the first and second channels at the corner, and the server device may cause the autonomous mobility device to travel along the outer edge on the travel path. With this configuration, efficiency and safety can be achieved even when image data cannot be acquired.

[0017] In the autonomous mobility system, the autonomous mobility device may be positioned near a connection point between the outer edge of the outer side of the first passage and the outer edge of the outer side of the second passage. This configuration improves the safety of the autonomous mobility device when passing through a wide obstacle.

[0018] In the autonomous mobile system, the server device can calculate the moving speed of the autonomous mobile device based on the obstacle captured in the image data, and the autonomous mobile device can turn at the corner at the calculated moving speed. With this configuration, driving efficiency can be improved.

[0019] The autonomous mobility method according to this embodiment is an autonomous mobility method for an autonomous mobile device that autonomously moves in a facility having a corner of a passageway, and includes the steps of: calculating the size of a corner radius of a turn in the autonomous mobile device's travel path based on obstacles captured in image data from a camera capturing an image of an exit at the corner when the autonomous mobile device turns at the corner; and causing the autonomous mobile device to turn at the corner with the calculated corner radius. With this configuration, the autonomous mobile device can travel while achieving both efficiency and safety.

[0020] The storage medium according to this embodiment stores an autonomous mobility program for an autonomous mobile device that autonomously moves in a facility having a corner of a passageway. The storage medium causes a computer to: calculate the size of the corner radius of the turn in the autonomous mobile device's travel path based on obstacles captured in image data from a camera capturing images of an exit from the corner when the autonomous mobile device turns at the corner; and cause the autonomous mobile device to turn at the corner with the calculated corner radius. With this configuration, the autonomous mobile device can travel while achieving both efficiency and safety.

[0021] The present embodiment can provide an autonomous movement system, an autonomous movement method, and a storage medium capable of traveling while achieving efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals represent like elements, and wherein:

[0023] Figure 1 is a schematic diagram showing a mobile robot according to a first embodiment;

[0024] Figure 2 is a perspective view showing a mobile robot according to a first embodiment;

[0025] Figure 3 is a block diagram showing a mobile robot according to a first embodiment;

[0026] Figure 4 is a plan view showing movement of the mobile robot in a facility according to the first embodiment;

[0027] Figure 5 is a plan view showing movement of the mobile robot in a facility according to the first embodiment;

[0028] Figure 6 is a plan view showing movement of the mobile robot in a facility according to the first embodiment;

[0029] Figure 7 is a flowchart illustrating the operation of the mobile robot at a corner according to the first embodiment;

[0030] Figure 8 is a flowchart showing a method of calculating the size of a corner radius R in the mobile robot according to the first embodiment;

[0031] Figure 9 is a flowchart showing a method of calculating the size of a corner radius R in the mobile robot according to the first embodiment;

[0032] Figure 10 is a block diagram showing a server device according to a second embodiment; and

[0033] Figure 11 is a sequence diagram showing the operation of the autonomous mobile device control system according to the second embodiment. DETAILED DESCRIPTION

[0034] Hereinafter, the present invention will be described through its embodiments, but the present invention in the claims is not limited to the following embodiments. Moreover, as a means of solving the problem, not all configurations described in the embodiments are indispensable. For the sake of clarity, the following description and drawings have been appropriately omitted and simplified. In the various drawings, the same reference numerals refer to the same elements, and repeated descriptions are omitted as needed.

[0035] First embodiment

[0036] An autonomous mobile system according to a first embodiment will be described. In this embodiment, the autonomous mobile system may be replaced by an autonomous mobile device, or the autonomous mobile device may be replaced by an autonomous mobile system. In addition, the autonomous mobile system according to this embodiment may include an autonomous mobile device. The autonomous mobile device moves autonomously in a predetermined facility. For example, the autonomous mobile device may be a mobile robot that moves autonomously, or a transport robot that moves autonomously to transport items. Hereinafter, a mobile robot will be described as an example of an autonomous mobile device. The mobile robot will be described in "Structure of the mobile robot" and "Operation of the mobile robot", respectively.

[0037] Structure of mobile robot

[0038] Figure 1 : is a schematic diagram showing a mobile robot according to the first embodiment. Figure 1 As shown in FIG, mobile robot 100 is an example of an autonomous mobile device that autonomously moves in a predetermined facility 900. For example, predetermined facility 900 is a hospital. Predetermined facility 900 is not limited to a hospital and may be a hotel, a shopping mall, or the like, as long as mobile robot 100 can autonomously move in the predetermined facility 900.

[0039] Mobile robot 100 autonomously moves on floor 910 in facility 900. Facility camera 400 is installed in facility 900. For example, facility camera 900 is fixed to ceiling 920 of facility 900 and captures images of the area surrounding facility camera 400 to generate image data. For example, facility camera 400 captures images of passageways, corners, pedestrians, other mobile robots 100, and the like. Multiple facility cameras 400 may be installed in facility 900.

[0040] The mobile robot 100 and the facility camera 400 are connected to each other so as to be able to communicate with each other via an information transmission method such as wireless communication. The mobile robot 100 and the facility camera 400 can be connected to each other so as to be able to communicate with each other directly, or can be connected to each other so as to be able to communicate with each other via the access point 500 and the server device 300. Therefore, the mobile robot 100 can obtain image data directly from the facility camera 400 or obtain image data via the access point 500 and the server device 300.

[0041] For example, the access point 500 is a wireless local area network (LAN) access point. The access point 500 is fixed in the facility 900 and acquires position information, travel information, etc. from the mobile robot 100 located around the access point 500. A plurality of access points 500 may be provided in the facility 900.

[0042] Multiple mobile robots 100 can move autonomously in the facility 900. When the mobile robots 100 move autonomously, they can connect to each other to communicate with each other via information transmission methods such as wireless communication. The mobile robots 100 can connect to each other to communicate directly with each other, or to each other via the access point 500 and the server device 300.

[0043] Figure 2 is a perspective view showing the mobile robot 100 according to the first embodiment. Figure 3 1 is a block diagram showing the mobile robot 100 according to the first embodiment. Figure 2 and Figure 3 As shown in , the mobile robot 100 includes a driving part 110, a housing part 120, a communication unit 130, an operation receiving part 140, a display part 150, a sensor group 160, an identifier (ID) sensor 170, a control unit 180, an operation unit 185 and a storage unit 190.

[0044] like Figure 2 As shown in FIG, the mobile robot 100 is a mobile body that moves on the ground 910 as a moving surface. Here, in order to facilitate the description of the mobile robot 100, an XYZ orthogonal coordinate axis system is used. The ground 910 is an XY-plane, and the upward direction is the +Z axis direction.

[0045] The driving unit 110 is used as a means for moving the mobile robot 100. The driving unit 110 may include two driving wheels 111 that are in contact with the ground 910 and can rotate independently of each other around a rotation axis extending in a direction (left-right direction or Y-axis direction in the figure) perpendicular to the straight direction (front-back direction or X-axis direction in the figure), and casters 112 that are in contact with the ground 910. The mobile robot 100 moves forward or backward in a manner in which the driving wheels 111 arranged on the left and right sides are driven at the same rotation speed, and turns by generating a difference in rotation speed or rotation direction between the left and right driving wheels 111. The driving unit 110 drives the driving wheels 111 according to a command from the control unit 180.

[0046] Housing 120 is positioned above driving unit 110 of mobile robot 100. Housing 120 may include a storage compartment door 121. When storage compartment door 121 is opened, a storage compartment for storing predetermined items is provided within housing 120. This allows mobile robot 100 to function as a transport robot for transporting predetermined items. Housing 120 can open and close storage compartment door 121 in response to commands from control unit 180.

[0047] like Figure 3 As shown in , the communication unit 130 is an interface that allows for communication with the outside world. For example, the communication unit 130 includes an antenna and circuitry for modulating or demodulating signals transmitted by the antenna. The communication unit 130 receives image data directly from the facility camera 400 or via the access point 500 and the server device 300. For example, the communication unit 130 receives image data of an exit at a corner of a passageway.

[0048] Furthermore, the communication unit 130 can receive information related to a destination, position information, travel information, etc. from the server device 300. Furthermore, the communication unit 130 can transmit information related to the status, position information, travel information, etc. of the mobile robot 100 to the server device 300. Furthermore, the communication unit 130 can transmit and receive position information and image data to and from other mobile robots 100 directly or via the access point 500 and the server device 300.

[0049] The communication unit 130 may periodically transmit a heartbeat signal to the server device 300. The heartbeat signal may include log data indicating the status of the mobile robot 100 in chronological order. In addition, the heartbeat signal may include the ID of the mobile robot 100 and the ID of the user.

[0050] The communication unit 130 connected to the control unit 180 outputs a signal including information transmitted from the facility camera 400 and the server device 300 to the control unit 180 , and transmits a signal including information output from the control unit 180 to the server device 300 .

[0051] The operation receiving unit 140 receives an input operation from the user and transmits an operation signal to the control unit 180. As a device for receiving an input operation from the user, the operation receiving unit 140 may include, for example, an operation button, a touch panel superimposed on the display unit 150, or the like. The user operates the above-mentioned input operation device to turn on and off the power supply, open and close the storage chamber door 121, and the like.

[0052] For example, the display unit 150 is provided so as to protrude from the upper surface of the housing 120. The display unit 150 is, for example, a display unit including a rectangular liquid crystal panel. The display unit 150 appropriately displays information in accordance with commands from the control unit 180. A touch panel that receives operations from the user may be superimposed on the display unit 150.

[0053] The sensor group 160 includes sensors that acquire data required for the autonomous movement of the mobile robot 100. For example, the sensor group 160 includes a robot camera 161 and a distance sensor 162. The sensor group 160 may include sensors other than the robot camera 161 and the distance sensor 162.

[0054] For example, the robot camera 161 is arranged above the housing 120 and below the display unit. In the robot camera 161, two camera units having the same viewing angle may be arranged horizontally apart from each other. With this configuration, images captured by the respective camera units are output to the control unit 180 as image data.

[0055] For example, the distance sensor 162 is disposed at the bottom of the housing 120. The distance sensor 162 may be disposed below each of the surfaces on the +X-axis side, the -X-axis side, the +Y-axis side, and the -Y-axis side of the housing 120. The distance sensor 162 measures the distance between objects surrounding the mobile robot 100 and the mobile robot 100. The control unit 180 identifies obstacles surrounding the mobile robot 100 and measures the distance between the mobile robot 100 and the obstacles by analyzing image data output by the robot camera 161 and detection signals output by the distance sensor 162.

[0056] For example, ID sensor 170 is provided near display unit 150. ID sensor 170 identifies the ID of the user operating mobile robot 100 and detects a unique identifier included in an ID card owned by each user. For example, ID sensor 170 includes an antenna for reading information from a wireless tag. When a user brings the ID card close to ID sensor 170, mobile robot 100 recognizes the ID of the user operating the mobile robot 100.

[0057] The control unit 180 is an information processing device including an arithmetic device such as a central processing unit (CPU). The control unit 180 includes hardware provided in the control unit 180 and a program stored in the hardware. That is, the processing performed by the control unit 180 is implemented by hardware or software.

[0058] The control unit 180 acquires various information from each device and issues commands to each device based on the acquired information. For example, the control unit 180 detects the distance between the mobile robot 100 and surrounding objects based on image data acquired from the mobile camera 161 and information about objects surrounding the mobile robot 100 acquired from the distance sensor 162. The control unit 180 then calculates a route to the destination based on the detected distance and instructs the drive unit 110 to move along the calculated route. When performing this process, the control unit 180 refers to information about the floor map stored in the storage unit 190.

[0059] The operation unit 185 calculates the corner radius R based on the obstacle in the image data. For example, the operation unit 185 calculates the size of the corner radius R based on the proportion of the space occupied by the obstacle in the image data. In addition, the operation unit 185 calculates the size of the corner radius R based on the type of obstacle in the image data.

[0060] The storage unit 190 includes a non-volatile memory such as a flash memory and a solid-state drive (SSD). The storage unit 190 stores a floor map of a facility used by the mobile robot 100 for autonomous movement. The storage unit 190 is connected to the control unit 180 and outputs the stored information to the control unit 180 in response to a request from the control unit 180.

[0061] like Figure 2 As shown in FIG, the mobile robot 100 has the +X axis direction side where the robot camera 161 is installed as the front. That is, during normal movement, as shown by the arrow, the +X axis direction is the traveling direction.

[0062] Various viewpoints can be adopted for defining the front of the mobile robot 100. For example, the front can be defined based on how the sensor group 160 for recognizing the surrounding environment is arranged. Specifically, the +X-axis direction side of the housing portion 120, where a sensor with high recognition capability or a large number of sensors are arranged, can be set as the front. By defining the front as described above, the mobile robot 100 can move while recognizing the surrounding environment more accurately. The mobile robot 100 according to this embodiment also uses the +X-axis direction side where the robot camera 161 is arranged as the front.

[0063] Alternatively, the front can be defined based on how display unit 150 is positioned. When display unit 150 displays a person's face, for example, people nearby naturally recognize that display unit 150 is the front of mobile robot 100. Therefore, when the display surface side of display unit 150 is set as the front, people nearby experience little discomfort. Mobile robot 100 according to this embodiment also uses the display surface side of display unit 150 as the front.

[0064] In addition, the front can be defined based on the shape of the shell of the mobile robot 100. For example, when the projection shape of the shell portion 120 on the driving surface is a rectangle, it is better to use the short side as the front than the long side so as not to obstruct people passing each other during movement. That is, based on the shape of the shell, there is a shell surface that is preferably set as the front when the mobile robot 100 moves normally. The mobile robot 100 according to the present embodiment also preferably uses the short side of the rectangle as the front. With this configuration, the mobile robot 100 can safely pass people, other mobile robots 100, etc. in passages and corners.

[0065] Mobile robot operation

[0066] Next, the operation of the mobile robot according to this embodiment will be described. For example, a user turns on the power of mobile robot 100. The user then inputs a desired task into operation receiving unit 140. When the power is turned on or when the user operates operation receiving unit 140, ID sensor 170 recognizes the user's ID, if necessary.

[0067] To transport the desired item, the user operates operation receiving unit 140 to open storage compartment door 121 and deposit the item into the storage compartment. The user then operates operation receiving unit 140 to close storage compartment door 121. Next, the user uses operation receiving unit 140 to input the item's destination. Mobile robot 100's control unit 180 searches for a route to the destination using the floor map stored in storage unit 190. Mobile robot 100 autonomously moves along the discovered route.

[0068] Figure 41 is a plan view showing the movement of the mobile robot 100 in the facility 900 according to the first embodiment. Figure 4 As shown in FIG, facility 900 includes a corner 903 where a channel 902X extending in the X-axis direction is connected to a channel 902Y extending in the Y-axis direction. Specifically, corner 903 is configured by channel 902X extending in the X-axis direction and channel 902Y extending in the Y-axis direction. The +X-axis side of channel 902X is connected to the -Y-axis side of channel 902Y.

[0069] The mobile robot 100 moves autonomously in the facility 900 provided with a corner 903 where a channel 902X and a channel 902Y are connected. Specifically, the mobile robot 100 moves from the -X axis direction side to the +X axis direction side in the channel 902X. Note that the words "move" and "drive" are used interchangeably. The driving path 904X on which the mobile robot 100 drives in the channel 902X includes a portion extending in the X axis direction. The mobile robot 100 rotates in the Y axis direction at the corner 903. The mobile robot 100 moves from the -Y axis direction side to the +Y axis direction side in the channel 902Y. The driving path 904Y on which the mobile robot 100 drives in the channel 902Y includes a portion extending in the Y axis direction. The driving paths 904X and 904Y on which the mobile robot 100 drives are collectively referred to as the driving path 904.

[0070] The mobile robot 100 can move in the center of the channel 902X or can move to the corner 903 on one side of the channel 902X. Figure 4 For example, the mobile robot 100 moves to the right of the centerline 905X of the passage 902X relative to the travel direction. After the mobile robot 100 turns at the corner 903, the mobile robot 100 may move in the center of the passage 902Y or may move to one side of the passage 902Y. For example, the mobile robot 100 moves to the right of the centerline 905Y of the passage 902Y relative to the travel direction.

[0071] In the driving path 904, the mobile robot 100 turns at the corner 903 with a corner radius R. That is, the mobile robot 100 turns so that the turning path on the driving path 904 has a roundness of the corner radius R. In the accompanying drawings, the corner radius R2 is greater than the corner radius R3. The corner radius R1 is greater than the corner radius R2. As the corner radius R becomes larger, the driving path 904 moves toward the inside of the corner 903. For example, in the case where the mobile robot 100 traveling on the right side of the channels 902X and 902Y turns left at the corner 903, when the corner radius R is larger (for example, the corner radius R1 and the corner radius R2), the driving path 904 may protrude to the left from the center lines 905X and 905Y. Then, the mobile robot 100 starts to travel closer to the inner corner of the corner 903. In this case, the mobile robot 100 travels inward at the corner 903.

[0072] On the other hand, when the corner radius R is smaller, the roundness of the travel path 904 becomes smaller. In this case, the travel path 904 does not protrude leftward from the center lines 905X and 905Y (for example, corner radius R3). When the corner radius R is 0, the mobile robot 100 turns at a right angle. That is, the mobile robot 100 turns at a right angle along the outer edge of the outer side of the passages 902X and 902Y at the corner 903.

[0073] The facility camera 400 is installed in the facility 900. The facility camera 400 captures an image of the area 410 around the corner 903 and generates image data. When the mobile robot 100 turns at the corner 903, the facility camera 400 captures an image of the exit of the corner 903. Note that the robot cameras 161 of other mobile robots 100 may also capture images of the exit of the corner 903.

[0074] The mobile robot 100 receives the image data of the facility camera 400 directly from the facility camera 400 or via the server device 300 and the access point 500. Note that the mobile robot 100 can obtain the image data of the exit captured by the robot camera 161 of another robot 100 directly from another mobile robot 100 or via the server device 300 and the access point 500.

[0075] When the mobile robot 100 turns at the corner 903, the mobile robot 100 calculates the size of the corner radius R of the turn in the travel path 904 based on the obstacles captured in the image data obtained by capturing the exit of the corner 903. Then, the mobile robot 100 turns at the corner 903 using the calculated corner radius R.

[0076] For example, mobile robot 100 calculates the size of corner radius R based on the ratio of the space occupied by obstacles in the image data. Specifically, mobile robot 100 calculates the ratio of the space occupied by obstacles such as people, stretchers, and other obstacles that hinder the travel of mobile robot 100 in the space of passage 902Y in the image data of the exit of corner 903. Note that mobile robot 100 may pre-store image data of obstacles that do not hinder the travel of mobile robot 100 as reference data and calculate the ratio of the space occupied by obstacles based on the difference between the reference data and the acquired image data.

[0077] When the image data obtained by capturing the exit of corner 903 does not capture an obstacle that obstructs travel and the ratio of the space in which mobile robot 100 can travel is large, corner radius R is increased. Therefore, mobile robot 100 can travel inward at corner 903 and shorten the travel distance. On the other hand, when the image data includes a person walking on the opposite side of passage 902Y in which mobile robot 100 travels and the ratio of the space in which mobile robot 100 can travel is small, corner radius R is decreased. In addition, a table in which corner radius R is associated with ratios may be pre-stored in storage unit 190, and corner radius R may be calculated based on the table.

[0078] In addition, the mobile robot 100 can calculate the size of the corner radius R according to the type of obstacle in the image data. Specifically, the mobile robot 100 determines whether a predetermined moving object is captured in the image data. For example, the predetermined moving object is a stretcher carrying a patient, an emergency mobile robot for transporting emergency blood transfusion, etc. When the predetermined moving object is captured in the image data, the mobile robot 100 reduces the corner radius R so as not to interfere with the travel of the predetermined moving object. In addition, a table in which the corner radius R is associated with the type of obstacle can be pre-stored in the storage unit 190, and the corner radius R is calculated based on the table.

[0079] Mobile robot 100 can calculate a corner radius R for providing travel path 904 along the outer edge of passages 902X and 902Y at corner 903 based on the type of obstacle in the image data. For example, when the width of mobile robot 100 is combined with the width of the predetermined mobile object, the obstacle, such as a stretcher, in this case, is approximately the width of passage 902. Furthermore, the distance to the outer edge can be varied depending on the type of obstacle. For example, if the width of the stretcher is greater than the predetermined width, the distance to the outer edge is reduced. If the width of the other mobile robots is less than the predetermined width, the distance to the outer edge is increased.

[0080] When the mobile robot 100 passes a predetermined moving body at the corner 903, the mobile robot 100 can wait near the connection point 903Q between the outer edge of the outer side of the passage 902X at the corner 903 and the outer edge of the outer side of the passage 902Y at the corner 903. At the corner 903, the distance from the connection point 903P between the inner edges of the passages 902X and 902Y to the connection point 903Q of the outer edges is greater than the width of the passages 902X and 902Y. Therefore, even when a moving body having a width approximately the width of the passages 902X and 902Y turns at the corner 903, a space is created near the connection point 903Q. With such a configuration, the mobile robot 100 can safely pass the predetermined moving body at the corner 903.

[0081] When mobile robot 100 turns at corner 903, the moving speed can be calculated based on the obstacles captured in the image data at the exit of corner 903. Mobile robot 100 can then turn at corner 903 at the calculated moving speed. Specifically, the moving speed can be changed based on the proportion of the space occupied by the obstacles in the image data at the exit of corner 903. When the proportion of the space occupied by the obstacles is large, the moving speed is reduced. When the proportion of the space occupied by the obstacles is small, the moving speed is increased. With this configuration, mobile robot 100 can shorten the time required to reach its destination while avoiding collisions with obstacles.

[0082] When the mobile robot 100 cannot acquire image data obtained by photographing the exit of the corner 903, the mobile robot 100 can calculate a corner radius R that provides a travel path 904 along the outer edges of the outer sides of the passages 902X and 902Y at the corner 903, and turn with the calculated corner radius R. With this configuration, the mobile robot 100 can safely pass through an obstacle even when passing through the obstacle at the corner 903.

[0083] Figure 5 1 is a plan view showing the movement of the mobile robot 100 in the facility 900 according to the first embodiment. Figure 5 As shown in , the +X axis direction side of the channel 902X is connected to the +Y axis direction side of the channel 902Y. Figure 5 , the case where mobile robot 100 moves on the right side of channel 902X and channel 902Y will be described. Mobile robot 100 moves from the −X-axis direction side to the +X-axis direction side in channel 902X. Then, mobile robot 100 changes its direction to the Y-axis direction at corner 903 and moves from the +Y-axis direction side to the −Y-axis direction side in channel 902Y.

[0084] The mobile robot 100 turns so that the turning path in the driving path 904 has a roundness of the corner radius R. In the accompanying drawings, the corner radius R4 is larger than the corner radius R5. As the corner radius becomes larger, the driving path 904 moves toward the inside of the corner 903. For example, in the case where the mobile robot 100 traveling on the right side of the channels 902X and 902Y turns right at the corner 903, when the corner radius R is larger (for example, the corner radius R4), the mobile robot 100 travels close to the inner corner 903 (connection point 903P) at the corner 903 in the driving path 904. In this case, the mobile robot 100 travels inward at the corner 903.

[0085] As described above, in a case where the mobile robot 100 is traveling on one side of the center line of the passage 902 relative to the traveling direction, when the mobile robot 100 turns to one side or the other, the mobile robot 100 may change the size of the corner radius R of the turn in the traveling path 904 based on the obstacle captured in the image data of the exit of the corner 903. In addition, the mobile robot 100 may calculate the moving speed based on the obstacle captured in the image data of the exit of the corner 903, and turn at the corner 903 at the calculated moving speed.

[0086] Figure 6 1 is a plan view showing the movement of the mobile robot 100 in the facility 900 according to the first embodiment. Figure 6 As shown in , when the mobile robot 100 traveling on the right side of the center line 905X of the channel 902X turns right relative to the driving direction, in a case where a predetermined moving body is captured as an obstacle in the image data at the exit of the corner 903, the mobile robot 100 can calculate the corner radius R of the driving path that moves the driving path to the left and provides the outer edge of the channels 902X and 902Y along the outside of the corner 903.

[0087] Specifically, mobile robot 100 can move to the left and travel along the outer edges of passages 902X and 902Y at corner 903. Furthermore, the distance to the outer edges can be varied depending on the type of obstacle. For example, if the width of the stretcher is greater than a predetermined width, the distance to the outer edges can be reduced. Otherwise, if the width of mobile robot 100 is less than the predetermined width, the distance to the outer edges can be increased.

[0088] Mobile robot 100 can wait near connection point 903Q between the outer edge of the outer side of passage 902X and the outer edge of the outer side of passage 902Y. With this configuration, mobile robot 100 can move in the shortest distance and can safely pass a predetermined moving object at corner 903.

[0089] As described above, when the mobile robot 100 turns at the corner 903, the autonomous movement method of the mobile robot 100 that autonomously moves in the facility 900 causes the mobile robot 100 to calculate the size of the corner radius R of the turn in the travel path 904 based on the obstacles captured in the image data of the camera that captures the image of the exit of the corner 903, and to turn at the corner 903 with the calculated corner radius R. The operation of causing the robot 100 to move at the corner 903 will be described with reference to a flowchart.

[0090] Figure 7 is a flowchart showing the operation of the mobile robot 100 at a corner according to the first embodiment. Figure 7 As shown in step S101, mobile robot 100 determines whether there is a corner 903 along the route to the destination. Specifically, control unit 180 of mobile robot 100 can determine whether there is a corner 903 ahead in the travel direction along the route to the destination based on image data from robot camera 161, or by associating position information with a floor map stored in storage unit 190 to determine whether there is a corner 903 ahead in the travel direction along the route to the destination. Furthermore, mobile robot 100 can determine whether there is a corner 903 ahead in the travel direction along the route to the destination based on position information transmitted from server device 300. If there is no corner 903, the process in step S101 is repeated until a corner is found.

[0091] Next, in step S101, when there is a corner 903 along the route to the destination, the robot 100 acquires image data of the exit of the corner 903, as shown in step S102. For example, the control unit 180 of the mobile robot 100 can acquire image data of the exit of the corner 903 captured by the facility camera 400 via the communication unit 130. In addition, the mobile robot 100 can acquire image data of the exit of the corner 903 captured by another mobile robot 100 via the communication unit 130.

[0092] Next, as shown in step S103, the control unit 180 of the mobile robot 100 causes the operation unit 185 to calculate the size of the corner radius R of the turn in the travel path 904 based on the obstacle captured in the image data. A method of calculating the size of the corner radius R will be described later. When calculating the size of the corner radius R, the mobile robot 100 can calculate the movement speed based on the obstacle captured in the image data.

[0093] Next, as shown in step S104, the control unit 180 of the mobile robot 100 causes the drive unit 110 to turn at the corner 903 using the calculated corner radius R. Note that when the mobile robot 100 turns at the corner 903 using the calculated corner radius R, the mobile robot 100 can turn at the corner 903 at the calculated moving speed. As described above, the mobile robot 100 turns at the corner 903.

[0094] Figure 8 1 is a flowchart showing a method of calculating the size of the corner radius R in the mobile robot 100 according to the first embodiment. Figure 8 As shown in step S111, when control unit 180 of mobile robot 100 causes operation unit 185 to calculate the size of corner radius R, control unit 180 may cause operation unit 185 to calculate the ratio of the space occupied by the obstacle. Next, as shown in step S112, control unit 180 of mobile robot 100 causes operation unit 185 to calculate the size of corner radius R based on the calculated ratio. For example, a table in which corner radius R and ratio are associated may be pre-stored in storage unit 190, and corner radius R may be calculated based on the table.

[0095] Figure 9 1 is a flowchart showing a method of calculating the size of the corner radius R in the mobile robot 100 according to the first embodiment. Figure 9 As shown in step S121, when control unit 180 of mobile robot 100 causes operation unit 185 to calculate the size of corner radius R, control unit 180 of mobile robot 100 determines whether the type of obstacle in the image data is a predetermined type. Then, as shown in step S122, control unit 180 of mobile robot 100 causes operation unit 185 to calculate the size of corner radius R based on the type of obstacle in the image data. For example, a table associating corner radius R with obstacle type may be pre-stored in storage unit 190, and corner radius R may be calculated based on the table.

[0096] Note that in step S122, mobile robot 100 may cause arithmetic unit 185 to calculate, based on the type of obstacle in the image data, a corner radius R that provides a travel path along the outer edge of corner 903 along the outer sides of passages 902X and 902Y. That is, mobile robot 100 may turn along the outer edges of passages 902X and 902Y. Furthermore, when mobile robot 100 is unable to acquire image data, mobile robot 100 may calculate corner radius R that provides a travel path along the outer edges of passages 902X and 902Y along corner 903, and use the calculated corner radius R to turn at corner 903. Furthermore, mobile robot 100 may then wait near connection point 903Q based on the predetermined moving object.

[0097] Next, the effects of this embodiment will be described. According to this embodiment, the mobile robot 100 changes the size of the corner radius R of the turn in the travel path 904 based on the obstacle in the image data of the exit of the corner 903. Therefore, the mobile robot 100 can travel while achieving efficiency and safety.

[0098] For example, the size of the corner radius R is changed according to the ratio of the space occupied by the obstacle in the image data. Therefore, the time spent by the mobile robot 100 at the corner 903 can be shortened, and the mobile robot 100 can safely pass the obstacle. Therefore, efficiency and safety can be achieved according to the degree of congestion.

[0099] In addition, the size of the corner radius R changes according to the type of obstacle. Therefore, the mobile robot 100 can pass through the obstacle safely. For example, when the mobile robot 100 passes by an obstacle with a larger width, the mobile robot 100 can turn along the outer edge of the outer side of the channel 902. In addition, in some cases, the mobile robot 100 can wait near the connection point 903Q. With this configuration, efficiency and safety can be achieved simultaneously according to the priority, size, etc. of the obstacle, and the mobile robot 100 can pass through the obstacle safely.

[0100] When image data cannot be acquired, the robot 100 is turned along the outer edge of the outside of the passage 902. With this configuration, both efficiency and safety can be achieved even when image data cannot be acquired.

[0101] Second embodiment

[0102] Next, an autonomous mobile system according to a second embodiment will be described. The autonomous mobile system according to this embodiment is a system that controls autonomous mobile devices that autonomously move within a predetermined facility 900. The autonomous mobile system will be described in the "Configuration of the Autonomous Mobile System" and "Operation of the Autonomous Mobile System," respectively.

[0103] Configuration of autonomous mobility systems

[0104] The autonomous mobile system includes a mobile robot 100. The autonomous mobile system may include a plurality of mobile robots 100. Furthermore, in addition to the mobile robot 100, the autonomous mobile system may further include a server device 300 and a facility camera 400.

[0105] Mobile Robot

[0106] The configuration of the mobile robot 100 according to the present embodiment is the same as that of the first embodiment described above. The mobile robot 100 according to the present embodiment can cause the server device 300 to perform some functions of the mobile robot 100 according to the first embodiment.

[0107] For example, the server device 300 may acquire image data captured by the facility camera 400, and the mobile robot 100 may acquire the image data from the server device 300. In addition, the server device 300 may acquire image data captured by other mobile robots 100, and the mobile robot 100 may acquire the image data from the server device 300.

[0108] Mobile robot 100 may cause server device 300 to determine whether the destination is corner 903. Mobile robot 300 may also cause server device 300 to calculate corner radius R. Mobile robot 100 may acquire the calculated corner radius R from server device 300.

[0109] Server device

[0110] For example, server device 300 is a computer with communication capabilities. Server device 300 can be installed in any location as long as it can communicate with the various components of the autonomous mobile device control system. Server device 300 can transmit and receive driving information to and from mobile robot 100, and can also acquire image data from facility camera 400.

[0111] Figure 10 is a block diagram showing a server device according to the second embodiment. Figure 10 As shown in , the server device 300 includes a communication unit 330, a control unit 380, an operation unit 385, and a storage unit 390. The communication unit 330 communicates with the mobile robot 100 and the facility camera 400, respectively. The communication unit 330 outputs the signal received from each configuration to the control unit 380. In addition, the communication unit 300 appropriately transmits the signal output from the control unit 380 to each configuration. The communication unit 330 may include a router device for performing communication between the server device 300 and the multiple configurations. In order to communicate with the server device 300 and the multiple configurations, the communication unit 330 may have multiple communication means different for each component to communicate with each other. The communication unit 330 can be communicatively connected to each configuration via an internal line or an Internet line.

[0112] The communication unit 330 may request the facility camera 400 or the robot camera 161 to transmit image data of the exit of the corner 903. The communication unit 330 may receive the image data of the exit of the corner 903 from the facility camera 400 or the robot camera 161. In addition, when the mobile robot 100 turns at the corner 903, the communication unit 330 may transmit the calculated corner radius R to the mobile robot 100.

[0113] The control unit 380 is configured by an operation device such as a CPU and performs various information processing. The control unit 380 acquires position information, travel information, etc. from the mobile robot 100 and causes the operation unit 385 to calculate the corner radius R based on obstacles in the image data acquired from the facility camera 400.

[0114] The operation unit 385 calculates the corner radius R based on the obstacle in the image data. For example, the operation unit 385 calculates the size of the corner radius R based on the proportion of the space occupied by the obstacle in the image data. In addition, the operation unit 385 calculates the size of the corner radius R based on the type of obstacle in the image data.

[0115] The storage unit 390 includes a non-volatile memory such as a flash memory and an SSD. The storage unit 390 stores a floor map of a facility used by the mobile robot 100 for autonomous movement. The storage unit 390 is connected to the control unit 380 and outputs the stored information to the control unit 380 in response to a request from the control unit 380.

[0116] Operation of autonomous mobile systems

[0117] Next, the operation of the autonomous movement system will be described. Figure 11 is a sequence diagram showing the operation of the autonomous mobile system according to the second embodiment.

[0118] As in Figure 11 As shown in step S201, the server apparatus 300 determines whether there is a corner 903 along the route from the mobile robot 100 to the destination. The server apparatus 300 can determine whether there is a corner 903 along the route from the mobile robot 100 to the destination based on image data from the robot camera 161 transmitted from the mobile robot 100, or by associating the position information of the mobile robot 100 with the floor map stored in the storage unit 390. Note that the server apparatus 300 can receive the mobile robot 100's determination result on whether there is a corner 903 along the route to the destination from the mobile robot 100. When there is no corner 903, the process in step S201 is repeated until there is a corner.

[0119] Next, in step S201, when there is a corner 903 along the route to the destination, as shown in step S202, the server device 300 requests the facility camera 400 to transmit image data of the exit of the corner 903. As shown in step S203, the facility camera 400 transmits the image data of the exit of the corner 903 to the server device 300 in response to the request. Note that the server device 300 may obtain the image data of the exit of the corner 903 from another mobile robot 100.

[0120] Next, as shown in steps S204 and S205 , or steps S207 and S208 , the server device 300 calculates the size of a corner radius R of the mobile robot 100 turning in the travel path 904 based on the obstacle captured in the image data.

[0121] Specifically, as shown in step S204, server device 300 calculates the ratio of the space occupied by the obstacle in the image data. Next, as shown in step S205, server device 300 calculates the size of corner radius R based on the calculated ratio. Then, as shown in step S206, server device 300 transmits the calculated size of corner radius R to mobile robot 100.

[0122] Furthermore, as shown in step S207, server device 300 may determine whether the obstacle in the image data is of a predetermined type. Then, as shown in step S208, server device 300 may calculate the size of corner radius R based on the type of obstacle in the image data. Next, as shown in step S209, server device 300 transmits the calculated size of corner radius R to mobile robot 100.

[0123] Note that server device 300 can calculate a corner radius R for causing mobile robot 100 to travel along the outer edges of passage 902X and passage 902Y at corner 903. Furthermore, server device 300 can cause mobile robot 100 to wait near connection point 903Q between the outer edges of passage 902X and the outer edges of passage 902Y. Furthermore, server device 300 can calculate the moving speed of mobile robot 100 based on obstacles captured in the image data.

[0124] Next, as shown in step S210, the mobile robot 100 turns at the corner using the corner radius R calculated by the server device 300. Furthermore, the mobile robot 100 turns at the corner at the moving speed calculated by the server device 300. As described above, the mobile robot 100 turns at the corner 903. Note that when the server device 300 cannot acquire image data, the server device 300 may calculate the corner radius R that provides a travel path along the outer edges of the outer sides of the passages 902X and 902Y at the corner 903 and cause the mobile robot 100 to travel along the outer edges on the travel path.

[0125] According to this embodiment, server device 300 calculates the size of the corner radius R of mobile robot 100 based on obstacles captured in image data of the exit of corner 903. Therefore, mobile robot 100 can turn efficiently and safely at corner 903.

[0126] Furthermore, the server device 300 can take on some functions of the mobile robot 100. Therefore, the burden on the mobile robot 100 can be reduced, and the processing speed of the mobile robot 100 can also be increased. Other configurations, operations, and effects are included in the description of the first embodiment.

[0127] The present invention is not limited to the above-described embodiments and can be modified as appropriate without departing from the spirit. For example, a combination of the configurations of the first and second embodiments is also included in the scope of the technical concept of this embodiment. In addition, the autonomous movement method and autonomous movement program shown below are also included in the scope of the technical concept of this embodiment.

[0128] Appendix 1

[0129] An autonomous movement method for an autonomous mobile device that moves autonomously in a facility with a corner of a passage, the autonomous movement method comprising: a step of calculating the size of a corner radius of the turn in the driving path of the autonomous mobile device based on obstacles captured in image data of a camera that captures an image of an exit of the corner when the autonomous mobile device turns at the corner; and a step of causing the autonomous mobile device to turn at the corner using the calculated corner radius.

[0130] Appendix 2

[0131] In the autonomous movement method according to Appendix 1, in the step of calculating the size of the corner radius, the autonomous movement device calculates the size of the corner radius based on a ratio of a space occupied by an obstacle in the image data.

[0132] Appendix 3

[0133] In the autonomous movement method according to Appendix 1, in the step of calculating the size of the corner radius, the autonomous movement device is caused to calculate the size of the corner radius according to the type of obstacle in the image data.

[0134] Appendix 4

[0135] In the autonomous movement method according to Appendix 1, a corner is configured by a first channel extending in one direction and a second channel extending in another direction intersecting the one direction, and in the step of calculating the size of the corner radius, the autonomous movement device calculates the corner radius of a driving path provided along the outer edge of the outer side of the first channel and the second channel at the corner according to the type of obstacle in the image data.

[0136] Appendix 5

[0137] In the autonomous movement method according to Appendix 1, a corner is configured by a first channel extending in one direction and a second channel extending in another direction intersecting the one direction, and in the step of calculating the size of the corner radius, when the image data cannot be obtained, the autonomous moving device calculates the corner radius of a driving path provided by an outer edge of the outer sides of the first channel and the second channel at the corner, and in the step of causing the autonomous moving device to turn at the corner with the calculated corner radius, the autonomous moving device is caused to travel along the outer edge on the driving path.

[0138] Appendix 6

[0139] In the autonomous movement method according to Appendix 4 or 5, the autonomous movement device is made to wait near a connection point between an outer edge of the outer side of the first passage and an outer edge of the outer side of the second passage.

[0140] Appendix 7

[0141] In the autonomous movement method according to any one of Appendices 1 to 5, in the step of calculating the size of the corner radius, the autonomous moving device calculates the moving speed based on the obstacle captured in the image data, and in the step of causing the autonomous moving device to turn at the corner with the calculated corner radius, the autonomous moving device turns at the corner with the calculated corner radius.

[0142] Appendix 8

[0143] An autonomous mobility program for an autonomous mobile device that autonomously moves in a facility with a corner of a passageway, the autonomous mobility program causing a computer to: calculate, when the autonomous mobile device turns at the corner, the size of the corner radius of the turn in the autonomous mobile device's travel path based on obstacles captured in image data of a camera that captures images of an exit at the corner; and cause the autonomous mobile device to turn at the corner with the calculated corner radius.

[0144] Appendix 9

[0145] When causing the computer to calculate the size of the corner radius, the autonomous movement program according to Appendix 8 causes the computer to calculate the size of the corner radius based on the ratio of the space occupied by the obstacle in the image data.

[0146] Appendix 10

[0147] When causing the computer to calculate the size of the corner radius, the autonomous movement program according to Appendix 8 causes the computer to calculate the size of the corner radius according to the type of obstacle in the image data.

[0148] Appendix 11

[0149] In the autonomous movement program according to Appendix 8, a corner can be configured by a first channel extending in one direction and a second channel extending in another direction intersecting the one direction, and when the computer is caused to calculate the size of the corner radius, the computer is caused to calculate the corner radius of a driving path provided along the outer edge of the outer side of the first channel and the second channel at the corner based on the type of obstacle in the image data.

[0150] Appendix 12

[0151] In the autonomous movement program according to Appendix 8, a corner is configured by a first channel extending in one direction and a second channel extending in another direction intersecting the one direction, and when image data cannot be acquired, when the computer is caused to calculate the size of the radius along the corner, when the computer is caused to calculate the corner radius of the driving path provided along the outer edge of the outer sides of the first channel and the second channel at the corner, and when the autonomous movement device is caused to turn at the corner with the calculated corner radius, the autonomous movement device is caused to travel along the outer edge on the driving path.

[0152] Appendix 13

[0153] The autonomous movement program according to Appendix 11 or 12 causes the computer to make the autonomous movement device stand by near the connection point between the outer edge of the outside of the first channel and the outer edge of the outside of the second channel.

[0154] Appendix 14

[0155] When the computer is caused to calculate the size of the corner radius, the autonomous mobile program according to any one of items 12 in Appendix 8 causes the computer to calculate the moving speed based on the obstacle captured in the image data, and when the autonomous mobile device is caused to turn at a corner with the calculated corner radius, the autonomous mobile device is caused to turn at the corner with the calculated moving speed.

Claims

1. An autonomous mobile system that autonomously moves in a facility having a corner of a passageway, wherein when the autonomous mobile system turns at the corner, the autonomous mobile system calculates a corner radius of the turn in a driving path based on obstacles captured in image data of a camera capturing an image of an exit of the corner, and turns at the corner with the calculated corner radius. The corner is configured by a first channel extending in one direction and a second channel extending in another direction intersecting the one direction, When any one of the right side and the left side is set as one side and the other is set as the other side with respect to the driving direction of the autonomous mobile system, the autonomous mobile system drives on the one side of the first center line which is the center line of the first channel, and after turning at the corner, drives on the one side of the second center line which is the center line of the second channel, When the obstacle is captured on the other side of the second center line in the image data, the size of the corner radius of the turn in the driving path is calculated based on the obstacle so that the driving path does not protrude from the first center line and the second center line to the other side. When the obstacle is not captured on the other side of the second center line in the image data, the size of the corner radius of the turn in the driving path is calculated so that the driving path protrudes from the first center line and the second center line to the other side. 2 . The autonomous mobile system according to claim 1 , wherein the autonomous mobile system calculates the size of the corner radius according to a ratio of a space occupied by the obstacle in the image data. 3 . The autonomous mobile system according to claim 1 , wherein the autonomous mobile system calculates the size of the corner radius according to the type of the obstacle in the image data.

4. The autonomous mobility system according to claim 1, wherein: The autonomous movement system calculates the corner radius that provides the driving path along outer edges of outer sides of the first and second passages at the corner according to the type of the obstacle in the image data.

5. The autonomous mobility system according to claim 1, wherein: When the autonomous mobile system cannot acquire the image data, the autonomous mobile system calculates the corner radius of the driving path provided by an outer edge along the outer sides of the first channel and the second channel at the corner, and drives along the outer edge on the driving path.

6. The autonomous mobile system according to claim 4 or 5, wherein: The autonomous movement system stands by near a connection point between the outer edge of the outer side of the first passage and the outer edge of the outer side of the second passage.

7. The autonomous mobile system according to any one of claims 1 to 5, wherein: The autonomous movement system calculates a movement speed based on the obstacle captured in the image data, and turns at the corner at the calculated movement speed.

8. An autonomous mobile system comprising: An autonomous mobile device that moves autonomously in a facility having a corner of a passage; a facility camera that is fixed in the facility and captures an image of the exit of the corner to generate image data; as well as a server device that transmits travel information to the autonomous mobile device and receives the travel information from the autonomous mobile device, and acquires the image data from the facility camera, wherein: When the autonomous mobile device turns at the corner, the server device calculates a size of a corner radius of the turn in the driving path of the autonomous mobile device based on obstacles captured in image data of a camera capturing the image of the exit at the corner; and The autonomous mobile device turns at the corner with the calculated corner radius, The corner is configured by a first channel extending in one direction and a second channel extending in another direction intersecting the one direction, When any one of the right side and the left side is set as one side and the other is set as the other side with respect to the driving direction of the autonomous mobile device, the autonomous mobile device drives on the one side of the first center line which is the center line of the first channel, and after turning at the corner, drives on the one side of the second center line which is the center line of the second channel, When the obstacle is captured on the other side of the second center line in the image data, the server device calculates the size of the corner radius of the turn in the driving path based on the obstacle so that the driving path does not protrude from the first center line and the second center line to the other side. In the image data, when the obstacle is not captured on the other side of the second center line, the server device calculates the size of the corner radius of the turn in the driving path so that the driving path protrudes from the first center line and the second center line to the other side.

9. The autonomous mobility system according to claim 8, wherein: The server device calculates the size of the corner radius according to the ratio of the space occupied by the obstacle in the image data.

10. The autonomous mobile system according to claim 8, wherein: The server device calculates the size of the corner radius according to the type of the obstacle in the image data.

11. The autonomous mobility system according to claim 8, wherein: The server device calculates the corner radius providing the driving path along outer edges of the first and second passages at the corner according to the type of the obstacle in the image data.

12. The autonomous mobility system according to claim 8, wherein: When the server device cannot acquire the image data, the server device calculates the corner radius that provides the driving path along outer edges of the first and second passages at the corner; and The server device causes the autonomous mobile device to travel along the outer edge on the travel path.

13. The autonomous mobile system according to claim 11 or 12, wherein: The autonomous mobile device stands by near a connection point between the outer edge of the outer side of the first passage and the outer edge of the outer side of the second passage.

14. The autonomous mobile system according to any one of claims 8 to 12, wherein: The server device calculates a moving speed of the autonomous mobile device based on the obstacle captured in the image data; and The autonomous mobile device turns at the corner at the calculated moving speed.

15. An autonomous movement method for an autonomous movement device that autonomously moves in a facility having a corner of a passage, the autonomous movement method comprising: When the autonomous mobile device turns at the corner, a step of calculating a size of a corner radius of the turn in the driving path of the autonomous mobile device based on obstacles captured in image data of a camera capturing an image of an exit of the corner; as well as a step of causing the autonomous mobile device to turn at the corner with the calculated corner radius, wherein the corner is configured by a first channel extending in one direction and a second channel extending in another direction intersecting the one direction, When any one of the right side and the left side is set as one side and the other is set as the other side with respect to the driving direction of the autonomous mobile device, the autonomous mobile device drives on the one side of the first center line which is the center line of the first channel, and after turning at the corner, drives on the one side of the second center line which is the center line of the second channel, In the step of calculating the size of the corner radius, When the obstacle is captured on the other side of the second center line in the image data, the size of the corner radius of the turn in the driving path is calculated based on the obstacle so that the driving path does not protrude from the first center line and the second center line to the other side. When the obstacle is not captured on the other side of the second center line in the image data, the size of the corner radius of the turn in the driving path is calculated so that the driving path protrudes from the first center line and the second center line to the other side.

16. A storage medium storing an autonomous movement program for an autonomous movement device for autonomously moving in a facility provided with a corner of a passage, the autonomous movement program causing a computer to: When the autonomous mobile device turns at the corner, calculating a size of a corner radius of the turn in the driving path of the autonomous mobile device based on obstacles captured in image data of a camera capturing an image of an exit of the corner; and causing the autonomous mobile device to turn at the corner with the calculated corner radius, in, The corner is configured by a first channel extending in one direction and a second channel extending in another direction intersecting the one direction, When any one of the right side and the left side is set as one side and the other is set as the other side with respect to the driving direction of the autonomous mobile device, the autonomous mobile device drives on the one side of the first center line which is the center line of the first channel, and after turning at the corner, drives on the one side of the second center line which is the center line of the second channel, When calculating the size of the corner radius, When the obstacle is captured on the other side of the second center line in the image data, the size of the corner radius of the turn in the driving path is calculated based on the obstacle so that the driving path does not protrude from the first center line and the second center line to the other side. When the obstacle is not captured on the other side of the second center line in the image data, the size of the corner radius of the turn in the driving path is calculated so that the driving path protrudes from the first center line and the second center line to the other side.

Images