Control system, control method, storage medium, and moving object

Abstract

The invention provides a control system, a control method, a storage medium, and a moving object capable of determining a stop position corresponding to an environment. A control system controls a moving body which is capable of autonomously moving in a region in which a pedestrian can move and which moves following a target pedestrian, the control system recognizes the pedestrian and an object in the vicinity of the moving body, and when the target pedestrian enters a set region in which the moving body should not enter, the moving body moves in the set region in which the moving body should not enter the set region. A stop position corresponding to the type of the set area and different from the set area is determined, and the moving body is moved to the determined stop position by interrupting the following of the pedestrian.

Description

Technical Field

[0001] The invention relates to a control system, a control method, a storage medium and a mobile object. Background Art

[0002] Conventionally, there is known a robot that guides a user to a desired location or transports goods (Japanese Patent Application Laid-Open No. 2012-111011). Summary of the invention

[0003] [Problems to be solved by the invention]

[0004] However, in the above-mentioned system, the stop position of the moving body has not been sufficiently studied.

[0005] The present invention has been made in consideration of such a situation, and one of its objects is to provide a control system, a control method, a storage medium, and a moving body capable of determining a stop position according to the environment.

[0006] [Solutions to solve the problem]

[0007] The control system, control method, storage medium, and moving object according to the present invention employ the following structures.

[0008] (1): One aspect of the present invention relates to a control system that controls a moving body, wherein the moving body can move autonomously in an area where pedestrians can move and move in pursuit of a target pedestrian, wherein the control system comprises: an identification unit that identifies the pedestrian and objects around the moving body; a determination unit that determines a stop position that corresponds to a category of the set area and is different from the set area when the target pedestrian enters a set area that the moving body should not enter; and a control unit that discontinues following the target pedestrian and moves the moving body to the determined stop position.

[0009] (2): Based on the scheme of (1) above, the determination unit identifies the category of the set area based on the category of the object identified by the identification unit, or identifies the category of the set area based on the category of the set area that establishes a correspondence with the position of the moving body in the map information.

[0010] (3): In the above-mentioned scheme (1) or (2), the stop position corresponding to the type of the set area is a position near the set area that is estimated not to hinder other pedestrians from entering the set area.

[0011] (4): Based on the above-mentioned scheme (1) or (2), when the identification unit identifies an object indicating that the set area is a set area related to a cash register and identifies that the set area is a set area related to a cash register, the determination unit determines the stop position to be a position of the cash register on the exit side of the facility where the cash register is installed, or a position on the exit side of the cash register, and the control unit moves the movable body to the stop position.

[0012] (5): Based on the solution of (4) above, the object of the subject is a cash register, a shopping cart or a shopping basket.

[0013] (6): Based on the scheme of (1) or (2) above, when the pedestrian of the object enters the set area, the determination unit determines the stopping position based on the time from when the pedestrian of the object or the moving body enters the facility of the set area to when the pedestrian of the object enters the set area.

[0014] (7): Based on the scheme of (1) or (2) above, when the set area is a counter of a facility and the pedestrian of the object enters the set area related to the counter, within the first specified time after the pedestrian of the object or the moving body visits the facility where the counter is installed, the determination unit determines a position farther away from the entrance of the facility than the pedestrian of the object as the stopping position.

[0015] (8): Based on the scheme of (1) or (2) above, when the set area is a counter of a facility and the pedestrian of the object enters the set area related to the counter, if more than a second specified time has passed since the pedestrian of the object or the moving body visited the facility, the determination unit determines a position closer to the exit of the facility than the pedestrian of the object as the stopping position.

[0016] (9): Based on the above-mentioned scheme (1) or (2), when the pedestrian of the object enters a set area that the moving body should not enter, the determination unit determines the stopping position to be a position corresponding to the category of the set area and different from the set area, and ahead of the pedestrian of the object based on the moving direction of the pedestrian of the object.

[0017] (10): In the above-mentioned scheme (1) or (2), when the determination unit recognizes that the set area is a bathroom, the determination unit determines a predetermined area in front of the bathroom as a stop position, and the control unit moves the moving body to the stop position.

[0018] (11): In the above-mentioned configuration of (10), the predetermined area in front of the toilet is an area outside the toilet and within a predetermined range from an entrance and exit of the toilet.

[0019] (12): Based on the above scheme (1) or (2), the control unit stops the moving body at the stopping position based on the fact that the pedestrian of the target enters the set area, and then the pedestrian of the target exits the set area, and then the moving body follows the pedestrian of the target.

[0020] (13): Based on the scheme of (12) above, when the target pedestrian exits a set area after the control unit stops the moving body at the stop position, the control unit prevents the moving body from entering the set area and starts to follow the target pedestrian again.

[0021] (14): Another embodiment of the present invention relates to a control method, wherein a control system controls a moving body, the moving body can move autonomously in an area where pedestrians can move and move in pursuit of a target pedestrian, the control method causing a computer of the control system to perform the following processing: identifying the pedestrian and objects around the moving body; when the target pedestrian enters a set area that the moving body should not enter, determining a stop position that corresponds to a category of the set area and is different from the set area; and interrupting pursuit of the target pedestrian and causing the moving body to move to the determined stop position.

[0022] (15): Another embodiment of the present invention relates to a storage medium storing a program, wherein a control system controls a moving body, the moving body being able to move autonomously in an area where pedestrians can move and to follow a target pedestrian, the program causing a computer of the control system to perform the following processing: identifying the pedestrian and objects around the moving body; when the target pedestrian enters a set area that the moving body should not enter, determining a stop position corresponding to a category of the set area and different from the set area; and interrupting following the target pedestrian and causing the moving body to move to the determined stop position.

[0023] (16): Another embodiment of the present invention relates to a mobile body that can move autonomously in an area where pedestrians can move and follow a target pedestrian, wherein the mobile body identifies the pedestrian and objects around the mobile body, and when the target pedestrian enters a set area that the mobile body should not enter, the mobile body determines a stop position that corresponds to the category of the set area and is different from the set area, and the mobile body interrupts following the target pedestrian and moves to the determined stop position.

[0024] [Effects of the invention]

[0025] According to the schemes (1) to (16), it is possible to determine a stop position according to the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a diagram showing an example of a configuration of a moving object system including a moving object.

[0027] Figure 2 This is a diagram for explaining an example of the use form of a moving object.

[0028] Figure 3 It is a diagram for explaining the induction mode.

[0029] Figure 4 It is a three-dimensional diagram showing a moving object.

[0030] Figure 5 This is a diagram showing an example of a functional structure of a moving object.

[0031] Figure 6 This is a diagram showing an example of the content of the stop position information.

[0032] Figure 7 FIG. 1 is a diagram for explaining scenario 1.

[0033] Figure 8 Figure (2) is used to illustrate scenario 1.

[0034] Fig. 9 This is a diagram for explaining scenario 2-1.

[0035] Fig.10 This is a diagram for explaining scenario 2-2.

[0036] Fig.11 This is a diagram for explaining scene 3.

[0037] Fig.12 This is a flowchart showing an example of the flow of processing executed by the control device. DETAILED DESCRIPTION

[0038] Hereinafter, the control system, control method, storage medium and mobile body of the present invention will be described with reference to the accompanying drawings. The control system of the present invention controls the driving device of the mobile body to move the mobile body. The mobile body of the present invention leads the guide object in the pedestrian walking area while following the object and moving autonomously. The mobile body can move in areas where vehicles (motor vehicles, two-wheeled motor vehicles, light vehicles) cannot move and areas where pedestrians can move. The areas where pedestrians move are sidewalks, open spaces, floors in buildings, etc., and may also include lanes. In the following description, it is assumed that people are not riding on the mobile body, but it may also be that people are riding on the mobile body. The guide object is, for example, a pedestrian, or a robot or an animal. For example, the mobile body moves slightly in front of the user who is an elderly person while going to a pre-assigned destination, thereby moving in a way that other pedestrians who hinder the user's movement will not be too close to the user (that is, in a way that creates a road for the user). The user is not limited to the elderly, but may also be a person who has a tendency to have difficulty walking, a child, a person shopping in a supermarket, a patient moving in a hospital, a pet walking, etc. In addition, the user does not necessarily need to decide the destination in advance, and the direction of the user's movement can be predicted, and the user can move autonomously in front of the user in accordance with the user's moving speed. It should be noted that such an action may not be performed all the time, but temporarily. For example, it is also possible that the mobile body is traveling side by side with the user or catching up with the user, and when a specified condition (such as the presence of an obstacle, congestion in traffic conditions, etc.) is detected in the direction of the user's travel, the mobile body temporarily leads the user by executing the algorithm of the present invention.

[0039] Figure 1 1 is a diagram showing an example of the structure of a mobile system 1 including a mobile body 100. The mobile system ("control system") 1 includes, for example, one or more terminal devices 2, a management device 10, an information providing device 30, and one or more mobile bodies 100. These communicate, for example, via a network NW. The network NW is, for example, any network such as a LAN, a WAN, or an Internet line. A part of the functional structure included in the information providing device 30 may also be mounted on the mobile body 100, and a part of the functional structure included in the mobile body 100 may also be mounted on the information providing device 30.

[0040] [Terminal device]

[0041] The terminal device 2 is a computer device such as a smartphone or a tablet terminal. The terminal device 2 requests the management device 10 to provide permission to use the mobile object 100 or obtains information indicating that permission to use has been obtained from the management device 10, for example, based on an operation by a user.

[0042] [Management Device]

[0043] The management device 10 grants the user of the terminal device 2 the right to use the mobile body 100 or manages the reservation for use of the mobile body 100 in response to the request of the terminal device 2. For example, the management device 10 generates and manages schedule information that associates the identification information of the pre-registered user with the date and time of the reservation for use of the mobile body 100.

[0044] [Information providing device]

[0045] The information providing device 30 provides the location of the mobile body 100, the area where the mobile body 100 moves, and map information of the surrounding area to the mobile body 100. The information providing device 30 may also generate a route to the destination of the mobile body 100 in response to a request from the mobile body 100 and provide the generated route to the mobile body 100.

[0046] [Mobile body]

[0047] The mobile object 100 is used by the user in the following usage forms. Figure 2 1 is a diagram for explaining an example of the use form of the mobile body 100. The mobile body 100 can move autonomously in an area where pedestrians can move. For example, the mobile body 100 can pass through an area where vehicles cannot pass. The mobile body 100 is configured, for example, at a specified location of a facility or street. When a user wants to use the mobile body 100, he can operate an operation unit (not shown) of the mobile body 100 to start using it, or operate the terminal device 2 to start using the mobile body 100. For example, when a user goes out shopping and has a lot of goods, he starts using the mobile body 100 and puts the goods into the storage unit of the mobile body 100. And the mobile body 100 moves with the user in a manner of autonomously following the user. The user can continue shopping or go to the next destination while storing the goods in the mobile body 100. For example, the mobile body 100 moves while moving with the user on a crosswalk on a sidewalk or a lane. The mobile body 100 can move in areas where pedestrians can pass, such as lanes and sidewalks. For example, the moving object 100 can be used in indoor or outdoor facilities or private land such as shopping malls, airports, parks, and theme parks, and can move in areas where pedestrians can pass.

[0048] The moving object 100 may be capable of autonomously moving in a mode such as a guidance mode or an emergency mode in addition to (or instead of) the following mode in which the moving object 100 follows the user as described above.

[0049] Figure 3 is a diagram for explaining the guidance mode. The guidance mode is a mode for guiding the user to the destination specified by the user. In this mode, the vehicle moves autonomously in front of the user at the user's moving speed to lead the user. Figure 3As shown, in a shopping mall, when a user is looking for a specified commodity, if the user requests the mobile body 100 to lead the way to the location of the specified commodity, the mobile body 100 leads the user to the location of the commodity. In this way, the user can easily find the specified commodity. It should be noted that when the mobile body 100 is used in a shopping mall, the mobile body 100 or the information providing device 30 maintains information such as the location of the commodity, the location of the store, the location of the facilities in the shopping mall, etc., which establish a corresponding relationship with the map information, as well as the map information of the shopping mall. The map information includes detailed map information, which includes the width of roads and passages, etc.

[0050] The emergency mode refers to a mode in which, when an abnormal situation occurs to the user during movement with the user (e.g., when the user falls), the mobile body 100 autonomously moves to seek help from nearby people or facilities in order to help the user. In addition to following and guiding as described above, the mobile body 100 may also (or instead of) move while keeping a distance from the user.

[0051] Figure 4 : is a perspective view showing the moving body 100. In the following description, the front direction of the moving body 100 is set as the positive x direction, the rear direction of the moving body 100 is set as the negative x direction, the width direction of the moving body 100 and the left direction with reference to the positive x direction are set as the positive y direction, the width direction of the moving body 100 and the right direction with reference to the positive x direction are set as the negative y direction, and the direction perpendicular to the x direction and the y direction and the height direction of the moving body 100 is set as the positive z direction.

[0052] The mobile body 100 includes, for example, a base body 110, a door portion 112 provided on the base body 110, and wheels (a first wheel 120, a second wheel 130, and a third wheel 140) assembled on the base body 110. For example, a user can open the door portion 112 to put goods into a storage portion provided on the base body 110, or take goods out of the storage portion. The first wheel 120 and the second wheel 130 are driving wheels, and the third wheel 140 is an auxiliary wheel (driven wheel). The mobile body 100 may also be movable using a structure other than wheels, such as tracks.

[0053] A cylindrical support body 150 extending in the positive z direction is provided on the surface of the base body 110 in the positive z direction. A camera 180 for photographing the surroundings of the moving body 100 is provided at the end of the support body 150 in the positive z direction. The position where the camera 180 is provided may be any position different from the above.

[0054] The camera 180 is, for example, a camera capable of capturing images of the surroundings of the moving object 100 at a wide angle (eg, 360 degrees). The camera 180 may include a plurality of cameras. The camera 180 may be implemented by combining a plurality of 120-degree cameras or a plurality of 60-degree cameras, for example.

[0055] Figure 5 FIG. 1 is a diagram showing an example of a functional configuration of the mobile object 100. The mobile object 100 includes Figure 4 In addition to the functional structure shown, the first motor 122, the second motor 132, the battery 134, the brake device 136, the steering device 138, the communication unit 190 and the control device 200 are provided. The first motor 122 and the second motor 132 are operated by the power supplied to the battery 134. The first motor 122 drives the first wheel 120, and the second motor 132 drives the second wheel 130. Alternatively, the first motor 122 is an in-wheel motor provided in the wheel portion of the first wheel 120, and the second motor 132 is an in-wheel motor provided in the wheel portion of the second wheel 130.

[0056] The brake device 136 outputs a braking torque to each wheel based on an instruction from the control device 200. The steering device 138 includes an electric motor. The electric motor, for example, applies a force to a rack-and-pinion mechanism based on an instruction from the control device 200 to change the direction of the first wheel 120 or the second wheel 130, thereby changing the forward path of the moving body 100.

[0057] The communication unit 190 is a communication interface for communicating with the terminal device 2 , the management device 10 , or the information providing device 30 .

[0058] [Control device]

[0059] The control device 200 includes, for example, a position determination unit 202, an information processing unit 204, an identification unit 206, a stop position processing unit 208, a path generation unit 212, a track generation unit 214, a control unit 216, and a storage unit 220. The position determination unit 202, the information processing unit 204, the identification unit 206, the path generation unit 212, the track generation unit 214, and the control unit 216 are implemented by executing a program (software) by a hardware processor such as a CPU (Central Processing Unit). Some or all of these components can be implemented by hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), or by the coordinated cooperation of software and hardware. The program can be stored in advance in a storage device such as a HDD (Hard Disk Drive) or a flash memory (a storage device having a non-temporary storage medium), or can be stored in a removable storage medium such as a DVD or a CD-ROM (a non-temporary storage medium), and installed by assembling the storage medium in a drive device. The storage unit 220 is implemented by a storage device such as a HDD, a flash memory, or a RAM (Random Access Memory). The stop position processing unit 208 is an example of a "determining unit".

[0060] The storage unit 220 stores control information 222, which is a control program for controlling the behavior of the mobile body 100 referred to by the control unit 216, map information 224, set area information 226, and stop position information 228. The map information 224 is map information such as the location of the mobile body 100, the area where the mobile body 100 moves, and the surrounding area provided by the information providing device 30.

[0061] The set area information 226 is a pre-set area that the mobile body 100 should not enter. The area that should not be entered is an area where there is a high risk of interfering with the actions of traffic participants such as pedestrians if entered. For example, the area that should not be entered includes a counter (cash register) of a facility and its surroundings, an entrance, etc. The location of the set area may also be associated with the map information 224.

[0062] The stop position information 228 is information that defines the stop position of the moving object 100 according to the type of the set area. Figure 62 is a diagram showing an example of the content of the stop position information 228. The stop position information 228 is information that establishes a correspondence between the category of the set area and the stop position. For example, if the category of the set area is a cashier counter, then the stop position is a position close to the exit of the facility where the cashier counter is set. For example, when the category of the set area is a counter of a hospital and the user enters the hospital within the first prescribed time, the stop position is a first position close to the entrance of the hospital. For example, when the category of the set area is a counter of a hospital and the user enters the hospital after more than the second prescribed time, the stop position is a second position close to the exit of the hospital. It is also possible that the first position is a position closer to the entrance of the facility than the second position, and the second position is a position closer to the exit of the facility than the first position. The stop position is a position determined based on the set area. For example, the stop position can also be determined as a position with a prescribed distance in the X direction relative to the set area, or can be determined as a position with a prescribed distance in the direction of a reference point (such as the entrance and exit of a facility) relative to the set area. When there is an obstacle at the stop position of the moving body 100, the moving body 100 may correct the position at a predetermined distance from the obstacle to the stop position.

[0063] The position determination unit 202 determines the position of the mobile body 100. The position determination unit 202 obtains the position information of the mobile body 100 through a GPS (Global Positioning System) device (not shown) built into the mobile body 100. The position information may be, for example, two-dimensional map coordinates or longitude and latitude information. In addition, the position determination unit 202 may estimate the position of the mobile body 100 simultaneously with the creation of the environmental map by using a camera image captured by the camera 180 or a so-called SLAM method using a sensor such as Lidar.

[0064] The information processing unit 204 manages information acquired from, for example, the terminal device 2 , the management device 10 , or the information providing device 30 .

[0065] The recognition unit 206 recognizes the position (distance from the mobile body 100 and direction relative to the mobile body 100) and the state such as speed and acceleration of the object in the vicinity of the mobile body 100 based on the image captured by the camera 180, for example. The so-called object includes traffic participants, obstacles existing in facilities and roads, etc. The recognition unit 206 recognizes and tracks the user of the mobile body 100. For example, the recognition unit 206 tracks the user based on the image (for example, the user's facial image) captured when the user uses the mobile body 100, the user's facial image provided by the terminal device 2 or the management device 10 (or the feature amount obtained from the user's facial image). The recognition unit 206 recognizes the gesture made by the user. It should be noted that the mobile body 100 may also be provided with a detection unit such as a radar device, LIDAR, etc. other than the camera. In this case, the recognition unit 206 uses the detection results of the radar device or LIDAR instead of (or in addition to) the image to recognize the situation around the mobile body M.

[0066] When the target pedestrian enters a set area that the moving body 100 should not enter, the stop position processing unit 208 determines a stop position that is different from the set area and corresponds to the type of the set area. Details of this processing will be described later.

[0067] The path generation unit 212 generates a path to a destination specified by the user. The destination may also be a place where goods are sold or a place where facilities are sold. In this case, the user specifies goods or facilities, and the mobile body 100 sets the place where the goods or facilities are specified as the destination. The path is a path that can reasonably reach the destination. For example, the distance to the destination, the time to reach the destination, the ease of passing the path, etc. are scored, and each score and a path having a score above a threshold value obtained by combining the scores are derived.

[0068] The trajectory generation unit 214 generates a trajectory that the moving body 100 should travel in the future, for example, based on the user's gesture, the destination set by the user, the surrounding objects, the user's position, etc. The trajectory generation unit 214 generates a trajectory that allows the moving body 100 to smoothly move to the target location. The trajectory generation unit 214 generates a trajectory corresponding to the movement of the moving body 100, or generates a trajectory for going to the destination while avoiding surrounding objects, for example, based on the correspondence relationship between the gesture and the movement set in advance. The trajectory generation unit 214 generates a trajectory for following the user being tracked or for leading the user. The trajectory generation unit 214 generates a trajectory corresponding to the movement obtained based on a preset pattern, for example. The trajectory generation unit 214 generates a plurality of trajectories corresponding to the movement of the moving body 100, and obtains the risk of each trajectory. When the total value of the obtained risk and the risk of each track point meet the preset reference (for example, when the total value is less than the threshold value Th1 and the risk of each track point is less than the threshold value Th2), the trajectory that meets the reference is adopted as the trajectory of the moving body 100. For example, the risk tends to be higher as the distance of the obstacle from the track (track point of the track) is smaller, and the risk tends to be lower as the distance of the obstacle from the track is larger.

[0069] The control unit 216 controls the motors (the first motor 122 and the second motor 132), the brake device 136, and the steering device 138 so that the moving body 100 travels along a track that satisfies a preset reference. The control unit 216 stops following the pedestrian and moves the moving body 100 to a determined stop position.

[0070] [Controls according to the type of setting area]

[0071] When a pedestrian enters a set area that the moving body 100 should not enter, the control device 200 determines the category of the set area, determines a stop position corresponding to the determined category of the set area, and interrupts following the pedestrian to move the moving body to the determined stop position. The stop position corresponding to the category of the set area is a position near the set area that is estimated not to hinder other pedestrians from entering the set area. The stop position is, for example, near the entrance and exit of the set area, a position different from the entrance and exit, or a position a specified distance away from the set area. In addition, the stop position may also be a specified range determined based on the width of the set area, the size of the moving body, etc.

[0072] The stop position processing unit 208 identifies the category of the set area based on the category of the object recognized by the recognition unit 206. For example, the stop position processing unit 208 recognizes a cash register, a shopping cart, a shopping basket, a counter of a hospital or other facility, a toilet, etc. as the category of the object. The stop position processing unit 208 identifies the category of the set area based on the category of the recognized object, and determines the stop position corresponding to the category of the set area with reference to the stop position information 228. The object indicated as the set area may also be an object different from the above-mentioned object. In this case, the stop position information 228 specifies the categories and stop positions of different objects.

[0073] The stop position processing unit 208 may determine the category of the set area based on the position of the mobile body 100 and the map information 224 instead of the result of the recognition by the recognition unit 206. For example, the map information 224 stores information that establishes a correspondence between the position of the set area and the category of the set area. Furthermore, the stop position processing unit 208 may determine the category of the set area using the result of the recognition by the recognition unit 206 and the position information. For example, the stop position processing unit 208 may determine the category of the set area when the results of the above two processes are consistent, and determine the category of the set area using the result of the process with a higher priority set in advance when they are inconsistent.

[0074] [Scene 1]

[0075] When the recognition unit 206 recognizes a cash register, a shopping cart, or a shopping basket and recognizes that the set area is a cash register, the control device 200 determines the stop position to be a position on the exit side of the facility where the cash register is installed relative to the cash register and moves the moving body to the stop position.

[0076] Figure 7 FIG. (1) is used to illustrate scene 1. The moving object 100 captures an image in a horizontal direction relative to the ground. Figure 7 In the example of FIG. 1 , a view of the ground from above is shown for the purpose of explanation. The same applies to the following figures. The mobile body 100 follows the user TA. The user TA approaches the cash register. When the control device 200 recognizes the cash register, it sets a setting area corresponding to the cash register. Figure 7 As shown, a preset area including the cash register is set as a set area AR1.

[0077] Figure 8 is a diagram (2) used to illustrate scenario 1. Figure 7When the position of the user TA enters the set area AR1, the control device 200 prevents the moving body 100 from entering the set area AR1, temporarily stops the moving body 100 from following the user TA, and overtakes the user TA. The control device 200 moves the moving body 100 to a stop position that is closer to the exit of the facility than the user TA, and stops the moving body 100 at the stop position. The stop position may be a position on the exit side of the cash register instead of a position close to the exit of the facility. Thereafter, when the user TA comes out of the set area AR1 and approaches the exit, the control device 200 causes the moving body 100 to follow the user TA. For example, after the control device 200 stops the moving body 100 at the stop position based on the fact that the user TA has entered the set area AR1, when the user TA exits the set area AR1, the control device 200 starts to follow the user TA again. In this case, for example, the moving body 100 does not enter the set area AR1 and the moving body 100 starts to follow again. Thereby, the possibility of interference with other users is reduced.

[0078] As described above, the control device 200 can wait for the user TA at an appropriate stop position according to the action of the user TA. This prevents the moving body 100 from interfering with the movement of other traffic participants and the user TA, and allows the moving body 100 to smoothly follow the user after the user exits the set area.

[0079] [Scene 2]

[0080] The control device 200 may also determine the stop position according to the time from when the user or the mobile body 100 enters the facility in the set area to when the user enters the set area when the user enters the set area. For example, in the case of the first time from when the user or the mobile body 100 enters the facility in the set area (the case of just entering), the stop position is determined to be the first stop position, and in the case of exceeding the first time from when the user or the mobile body 100 enters the facility in the set area (the case of a period of time after entering), the stop position is determined to be a second stop position different from the first stop position. In the case where the entrance and the exit are the same, the first stop position is, for example, a position farther from the entrance and the exit than the second stop position. In the case where the entrance and the exit are different, the first stop position is, for example, a position farther from the entrance, a position farther from the exit, a position farther from the entrance and the exit, and a position closer to the inside of the facility than the user. The second stop position is, for example, a position closer to the exit than the first stop position.

[0081] When the set area is a counter and a pedestrian enters the set area related to the counter, if it is within the first specified time after the user or the mobile body 100 visits the facility where the counter is set, the control device 200 determines a position farther from the entrance of the facility than the pedestrian as the stop position, and moves the mobile body 100 to the stop position. When the set area is a counter and a pedestrian enters the set area related to the counter, if it is more than the second specified time after the user or the mobile body 100 visits the facility, the control device 200 determines a position closer to the exit of the facility than the pedestrian as the stop position, and moves the mobile body 100 to the stop position.

[0082] [Scene 2-1]

[0083] Fig. 9 FIG. 1 is a diagram for explaining scene 2-1. Scene 2-1 is a scene in which a user TA and a mobile body 100 are visiting a facility such as a hospital. The mobile body 100 is following the user TA. The user TA enters the facility and approaches the counter. The control device 200 recognizes the counter and sets a setting area AR2 corresponding to the counter. Fig. 9 As shown, a preset area including the counter is set as the set area AR2.

[0084] In scenario 2-1, since it is within the first specified time after the pedestrian visits the facility, the control device 200 determines the stop position to be a position farther from the entrance E of the facility than the pedestrian, and moves the moving body 100 to the stop position. Fig. 9 In the example of , the moving body 100 stops at the stop position. Afterwards, when the pedestrian leaves the counter and starts moving, the control device 200 causes the moving body 100 to follow the user TA.

[0085] As described above, the control device 200 can wait for the user at an appropriate stop position corresponding to the action of the user TA. In addition, considering the time when the user enters the facility, the mobile body 100 can wait for the user at a stop position corresponding to the next action of the user. Thus, the mobile body 100 is prevented from interfering with the movement of other users and users, and further, the mobile body 100 can smoothly follow the user.

[0086] [Scene 2-2]

[0087] Fig.10 Figure (1) is used to illustrate scene 2-2. The explanation will be centered on the differences from scene 2-1. The moving body 100 follows the user TA. After entering the facility, the user TA approaches the counter after a second prescribed time has passed. The second prescribed time is longer than the first prescribed time. The control device 200 identifies the counter and sets a setting area AR2 corresponding to the counter.

[0088] In scenario 2-2, the second predetermined time has passed since the pedestrian arrived at the facility, so the control device 200 determines the stop position to be a position closer to the entrance E of the facility than the pedestrian, and moves the moving body 100 to the stop position. Fig.10 In the example of , the moving body 100 stops at the stop position. Afterwards, when the pedestrian leaves the counter and starts moving, the control device 200 causes the moving body 100 to follow the user TA.

[0089] In the above example, the control device 200 determines the stop position based on time, but the stop position may be determined based on the user's moving direction instead of (or in addition to) this. For example, the control device 200 may determine the stop position as a position ahead or behind the user based on the user's moving direction. For example, the stop position corresponding to the category of the set area is a stop position ahead or behind the user based on the user's moving direction, and the stop position is a position that is different for each category of the set area. For example, the stop position is a position ahead or behind the user's moving direction that corresponds to the category of the set area. In this way, the same effect as described above can be obtained.

[0090] [Scene 3]

[0091] When the control device 200 recognizes that the set area is a bathroom, it determines a predetermined area in front of the bathroom as a stop position and moves the moving body to the stop position. The predetermined area in front of the bathroom is an area outside the bathroom and within a predetermined range from the entrance and exit of the bathroom. Fig.11 3 is a diagram for explaining scene 3. Scene 3 is a scene in which a user TA approaches the entrance of a toilet. The mobile body 100 follows the user TA. The user TA approaches the set area of ​​the toilet. The control device 200 recognizes the entrance of the toilet based on the display of the toilet, etc., and sets the set area AR3 corresponding to the toilet. Fig.11 As shown, a preset area including the toilet and the entrance and exit E of the toilet is set as the set area AR3.

[0092] The user enters the set area AR3. The control device 200 moves the moving body 100 to the area in front of the entrance E of the toilet, that is, the stop position. Fig.11 In the example of , the moving body 100 is stopped at the stop position. Afterwards, when the user TA comes out from the entrance E of the bathroom, the control device 200 recognizes the user TA and causes the moving body 100 to follow the user TA.

[0093] As described above, the control device 200 can wait for the user TA at an appropriate stop position according to the behavior of the user TA. This prevents the moving body 100 from interfering with other users or the movement of the user.

[0094] [flow chart]

[0095] Fig.12 : is a flowchart showing an example of the process flow of the processing performed by the control device 200. First, the control device 200 determines whether the user has entered the set area (step S100). When the user has entered the set area, the control device 200 determines the category of the set area (step S102). Next, the control device 200 determines the stop position corresponding to the category of the set area (step S104). In this process, when the set area is a pre-set counter, the stop position is determined by considering the time from the time the user visits the facility to the time when he enters the set area (or the time until now). Moreover, the stop position is appropriately adjusted based on the position of the object. For example, when an object is present at the stop position or near the stop position, the control device 200 determines the position at a specified distance away from the object as the stop position. Next, the control device 200 moves the moving body 100 and stops at the stop position (step S106).

[0096] Next, the control device 200 determines whether the user has exited the set area (step S108). If the user has exited the set area, the control device 200 restarts the mobile body 100 to follow the user (step S110). Thus, the processing of one routine of this flowchart ends.

[0097] According to the embodiment described above, when a pedestrian of the target enters a set area that the moving body 100 should not enter, the control system determines a stopping position corresponding to the category of the set area and different from the set area, and interrupts following the pedestrian of the target and moves the moving body 100 to the determined stopping position, thereby being able to determine a stopping position corresponding to the environment.

[0098] The above-described embodiment can be expressed as follows.

[0099] A mobile body, comprising:

[0100] a storage medium that stores computer-readable instructions; and

[0101] One or more processors connected to the storage medium,

[0102] The one or more processors execute the following processing by executing the instructions that can be read by the computer:

[0103] controlling a moving object that can autonomously move in an area where pedestrians can move and that follows a target pedestrian;

[0104] Identifying the pedestrian and objects around the moving object;

[0105] When the target pedestrian enters a set area that the moving body should not enter, determining a stop position that corresponds to the type of the set area and is different from the set area; and

[0106] The pedestrian following the target is stopped and the moving body is moved to the determined stop position.

[0107] Although specific embodiments of the present invention have been described above using the embodiments, the present invention is not limited to such embodiments at all, and various modifications and substitutions can be made without departing from the gist of the present invention.

Claims

1. A control system for controlling a moving body, wherein the moving body can move autonomously in an area where pedestrians can move and moves following a target pedestrian, wherein: The control system comprises: a recognition unit for recognizing the pedestrian and objects around the moving body; a determination unit that determines a stop position that is different from the set area and corresponds to the type of the set area when the target pedestrian enters a set area that the moving body should not enter; and The control unit discontinues following the target pedestrian and moves the moving body to the determined stop position.

2. The control system according to claim 1, wherein: The specifying unit identifies the type of the set area based on the type of the object recognized by the recognition unit, or identifies the type of the set area based on the type of the set area associated with the position of the moving object in map information.

3. The control system according to claim 1 or 2, wherein: The stop position corresponding to the type of the set area is a position near the set area that is estimated not to hinder other pedestrians from entering the set area.

4. The control system according to claim 1 or 2, wherein: The determination unit determines the stop position to be a position of the cash register on the exit side of the facility where the cash register is installed, or a position on the exit side of the cash register, when the recognition unit recognizes that the set area is the set area related to the cash register because the recognition unit recognizes the object indicating that the set area is the set area related to the cash register. The control unit moves the moving body to the stop position.

5. The control system according to claim 4, wherein: The object of the subject is a cash register, a shopping cart or a shopping basket.

6. The control system according to claim 1 or 2, wherein: When the target pedestrian enters the set area, the specifying unit determines the stop position based on a time from when the target pedestrian or the moving object enters a facility in the set area to when the target pedestrian enters the set area.

7. The control system according to claim 1 or 2, wherein: When the set area is a counter of a facility and the pedestrian of the object enters the set area related to the counter, within the first specified time after the pedestrian of the object or the moving body visits the facility where the counter is set, the determination unit determines a position farther away from the entrance of the facility than the pedestrian of the object as the stopping position.

8. The control system according to claim 1 or 2, wherein: When the set area is a counter of a facility and the pedestrian of the object enters the set area related to the counter, if a second specified time has passed since the pedestrian of the object or the moving body visited the facility, the determination unit determines a position closer to the exit of the facility than the pedestrian of the object as the stopping position.

9. The control system according to claim 1 or 2, wherein: When the pedestrian of the object enters a set area that the moving body should not enter, the determination unit determines the stopping position to be a position corresponding to the category of the set area and different from the set area, and ahead of or behind the pedestrian of the object based on the moving direction of the pedestrian of the object.

10. The control system according to claim 1 or 2, wherein: When the determination unit recognizes that the set area is a toilet, the determination unit determines a predetermined area in front of the toilet as the stop position. The control unit moves the moving body to the stop position.

11. The control system according to claim 10, wherein: The predetermined area in front of the toilet is an area outside the toilet and within a predetermined range from the entrance and exit of the toilet.

12. The control system according to claim 1 or 2, wherein: The control unit starts causing the moving body to follow the target pedestrian again when the target pedestrian exits the set area after stopping the moving body at the stop position in response to the target pedestrian entering the set area.

13. The control system according to claim 12, wherein: The control unit causes the moving body to follow the target pedestrian again without causing the moving body to enter the set area, if the target pedestrian exits the set area after the moving body is stopped at the stop position.

14. A control method, wherein: The control system controls the moving body, which can move autonomously in an area where pedestrians can move and follows the target pedestrian. The control method enables the computer of the control system to perform the following processing: Identifying the pedestrian and objects around the moving object; When the pedestrian of the object enters a set area that the moving body should not enter, determining a stop position that corresponds to the type of the set area and is different from the set area; as well as The pedestrian following the target is stopped and the moving body is moved to the determined stop position.

15. A storage medium storing a program, wherein: The control system controls the moving body, which can move autonomously in an area where pedestrians can move and follows the target pedestrian. The program causes the computer of the control system to execute the following processing: Identifying the pedestrian and objects around the moving object; When the pedestrian of the object enters a set area that the moving body should not enter, determining a stop position that corresponds to the type of the set area and is different from the set area; as well as The pedestrian following the target is stopped and the moving body is moved to the determined stop position.

16. A mobile body capable of autonomously moving in an area where pedestrians can move and following a target pedestrian, wherein: The mobile body recognizes the pedestrian and objects around the mobile body, When the target pedestrian enters a set area that the moving body should not enter, the moving body determines a stop position that corresponds to a type of the set area and is different from the set area. The moving body stops following the target pedestrian and moves to the determined stop position.

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