Moving body, moving body control method and program

Abstract

A moving body is provided with: an illumination device that radiates light from a predetermined region in a radiatable region in which light can be radiated; a recognition unit that recognizes an object and a user in the vicinity of a moving body on the basis of a captured image of the vicinity of the moving body; a movement control unit that controls the moving body so as to move together with the user while avoiding the surrounding object; and a radiation control unit that controls the illumination device to control a radiation pattern in which the illumination device radiates light, the recognition unit recognizing a direction in which a user is present with respect to the moving body. The radiation control unit controls the radiation pattern on the basis of the direction that changes in accordance with the movement of one or both of the moving body and the user.

Description

Technical Field

[0001] The present invention relates to a mobile object, a control method and a program for the mobile object. Background Art

[0002] In the past, an autonomous mobile device has been disclosed, which includes a control unit that controls a moving unit for moving the device so that the device moves to follow the movements of a person identified as a following target person by a detection unit that detects the distance to and shape of surrounding objects, and controls a notification unit so that when the person identified as the following target person performs a specific movement, a notification is performed by a notification method pre-set corresponding to the specific movement (for example, refer to patent document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-086757

[0006] Patent Document 2: Japanese Patent Application No. 2019-526857 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, control during movement is not considered.

[0009] The present invention has been made in consideration of such a situation, and one of its objects is to provide a moving body, a control method of the moving body, and a program that can easily identify whether the moving body has performed an action corresponding to the user's intention during the user's movement.

[0010] Means for solving problems

[0011] The moving object, the moving object control method, and the program of the present invention adopt the following structures.

[0012] (1): A moving body according to one embodiment of the present invention comprises: a lighting device that radiates light from a specified area in a radiatable area that can radiate light; a recognition unit that recognizes objects and users around the moving body based on an image captured of the surroundings of the moving body; a movement control unit that controls the moving body in a manner that avoids the surrounding objects while moving with the user; and a radiation control unit that controls the lighting device to control a radiation pattern of light radiated by the lighting device, wherein the recognition unit recognizes a direction in which the user is relative to the moving body, and the radiation control unit controls the radiation pattern based on the direction that changes according to the movement of one or both of the moving body and the user.

[0013] (2): Based on the scheme of (1) above, the irradiable area of ​​the lighting device is a circular or substantially circular area that is oriented toward the radiation direction relative to the vertical axis of the movable body and is set within a specified angle range in the radiation direction, and the radiation control unit controls the lighting device so that light is radiated in an area within a predetermined angle range for the radiation direction centered at a position in the irradiable area that is opposite to the direction in which the user is located.

[0014] (3): Based on the scheme of (2) above, the radiation control unit controls the lighting device so that the strongest light is radiated at a position or near a position directly opposite to the direction in which the user is located in the irradiable area, and weaker light is radiated as it is farther away from the directly opposite position or near the position in the circumferential direction.

[0015] (4): Based on the scheme of (1) above, the irradiable area of ​​the lighting device is a circular or substantially circular area that is oriented toward the radiation direction relative to the vertical axis of the movable body and is set within a specified angular range in the radiation direction, and the radiation control unit changes the radiation pattern of the light radiated in the irradiable area according to the distance from the movable body to the user.

[0016] (5): Based on the scheme of (4) above, the radiation control unit radiates light from an area of ​​a first width in the irradiatable area when the distance from the moving body to the user is a first distance, and radiates light from an area of ​​a second width wider than the first width when the distance from the moving body to the user is a second distance shorter than the first distance.

[0017] (6): Based on the scheme of (1) above, the irradiable area of ​​the lighting device is a circular or substantially circular area that is oriented toward the radiation direction relative to the vertical axis of the movable body and is set within a specified angular range in the radiation direction, and the radiation control unit changes the color of the light radiated in the irradiable area according to the distance from the movable body to the user.

[0018] (7): Based on the scheme of (4) above, the radiation control unit radiates light of a warm color or a color close to a warm color in the radiatable area when the distance from the moving body to the user is a third distance, compared with a case where the distance from the moving body to the user is a fourth distance longer than the third distance.

[0019] (8): Based on any one of the above solutions (1) to (7), the user is a user that the mobile object is tracking.

[0020] (9): Based on the scheme of (8) above, the irradiable area of ​​the lighting device is a circular or substantially circular area that is oriented toward the radiation direction relative to the vertical axis of the moving body and is set within a specified angle range in the radiation direction. When the distance from the moving body to the user is a first distance, the radiation control unit radiates light from an area of ​​a first width centered on a position in the irradiable area that is opposite to the direction in which the user is located. When the distance from the moving body to the user is a second distance shorter than the first distance, the radiation control unit radiates light from an area of ​​a second width wider than the first width centered on a position in the irradiable area that is opposite to the direction in which the user is located.

[0021] (10): A control method for a moving body according to one embodiment of the present invention causes a computer to perform the following processing: identifying objects and users around the moving body based on an image captured of the surroundings of the moving body; controlling the moving body in a manner of moving with the user while avoiding the surrounding objects; controlling a lighting device that radiates light from a specified area within a radiatable area capable of radiating light to control a radiation pattern of the light radiated by the lighting device; identifying the direction in which the user is relative to the moving body; and controlling the radiation pattern based on the direction that changes according to the movement of one or both of the moving body and the user.

[0022] (11): A program of one embodiment of the present invention causes a computer to perform the following processing: identifying objects and users in the vicinity of a moving body based on an image captured of the vicinity of the moving body; controlling the moving body in a manner that moves with the user while avoiding the surrounding objects; controlling a lighting device that radiates light from a specified area within a radiatable area capable of radiating light to control a radiation pattern of the light radiated by the lighting device; identifying a direction in which the user is relative to the moving body; and controlling the radiation pattern based on the direction that changes according to the movement of one or both of the moving body and the user.

[0023] Effects of the Invention

[0024] According to the schemes (1) to (11), the moving body controls the radiation pattern based on the direction that changes according to the movement of one or both of the moving body and the user, thereby making it easy to identify whether the moving body has performed actions corresponding to the user's intention during the user's movement.

[0025] According to (2) or (3), since light is radiated from an area that is easily visible to the user, the user can more easily recognize whether the moving object has taken an action in accordance with the user's intention.

[0026] According to (4) or (5), the radiation pattern is changed according to the distance between the moving object and the user, so the user can easily grasp the position of the moving object.

[0027] According to (6) or (7), the color of the light changes according to the distance between the moving object and the user, so the user can easily recognize the behavior and position of the moving object. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 1 is a diagram showing an example of a configuration of a moving body system 1 including a moving body 100 .

[0029] Figure 2 This is a diagram for explaining how the moving object 100 is used.

[0030] Figure 3 It is a perspective view showing the moving object 100 .

[0031] Figure 4 1 is a diagram showing an example of a functional configuration of the mobile object 100 .

[0032] Figure 5 This is a diagram showing an example of the content of the control information 232.

[0033] Figure 6 1 is a diagram showing an example of a radiation pattern when the distance from the mobile object 100 to the user is a first distance.

[0034] Figure 7 1 is a diagram showing an example of a radiation pattern when the distance from the mobile object 100 to the user is the second distance.

[0035] Figure 8 1 is a diagram for explaining the relationship between the position of the user and the center C of the area where light is radiated in the radiatable area of ​​the lighting device 160 .

[0036] Fig. 9 This is a diagram showing a scene in which the mobile object 100 follows the user.

[0037] Fig.10 This is a flowchart of the flow of processing executed by the control device 200 of the mobile object 100.

[0038] Fig.11 This is a diagram showing an example of the control information 232 according to a modification.

[0039] Fig.12 This is a diagram for explaining an example of divided areas.

[0040] Fig.13 This is a diagram showing another example of the irradiable area.

[0041] Fig.14It is a diagram for explaining information output by the information output unit 116 according to the second embodiment.

[0042] Fig.15 This is a diagram showing the relationship between the operation of the moving object 100 and the information output to the information output unit 116 .

[0043] Fig.16 It is a diagram showing a moving object X of a comparative example.

[0044] Fig.17 1 is a diagram showing an example of the information output unit 116 that outputs the charging rate. DETAILED DESCRIPTION

[0045] Hereinafter, embodiments of a moving object, a method for controlling a moving object, and a program according to the present invention will be described with reference to the drawings.

[0046] <First Embodiment>

[0047] Figure 1 1 is a diagram showing an example of a configuration of a mobile system 1 including a mobile body 100. The mobile system 1 includes, for example, one or more terminal devices 2, a management device 10, and one or more mobile bodies 100. These communicate via, for example, a network NW. The network NW is, for example, any network such as a LAN, a WAN, or an Internet line.

[0048] [Terminal device]

[0049] The terminal device 2 is, for example, a computer device such as a smartphone or a tablet terminal. The terminal device 2 requests the management device 10 to provide the use authority of the mobile object 100 or obtains information indicating that the use is permitted, for example, based on the operation of the user.

[0050] [Management Device]

[0051] 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 in which the identification information of the pre-registered user is associated with the date and time of the reservation for use of the mobile body 100.

[0052] [Mobile body]

[0053] The mobile object 100 is used by the user in the following manner. Figure 2This is a diagram for explaining how the mobile body 100 is used. The mobile body 100 is, for example, arranged at a predetermined location of a facility or a street. When a user wants to use the mobile body 100, he or she can start using it by operating the HMI (described later) of the mobile body 100, or start using the mobile body 100 by operating the terminal device 2. For example, when a user goes out shopping and has a lot of luggage, he or she starts using the mobile body 100 and puts the luggage into the storage part of the mobile body 100. Then, the mobile body 100 moves with the user in a manner that autonomously follows the user. The user can continue shopping or go to the next destination while storing the luggage in the mobile body 100. For example, the mobile body 100 moves with the user on a crosswalk on a sidewalk or a road. The mobile body 100 can move in areas where pedestrians can pass, such as roads and sidewalks. For example, the mobile body 100 can be used in indoor or outdoor facilities and private land such as shopping malls, airports, parks, theme parks, and can move in areas where pedestrians can pass.

[0054] The mobile body 100 may also be capable of autonomously moving in a guidance mode, an emergency mode, or the like, in addition to (or instead of) the following mode in which the mobile body 100 follows the user as described above. The guidance mode is a mode in which the mobile body 100 guides the user to the destination specified by the user, and autonomously moves in front of the user to guide the user according to the user's moving speed. The emergency mode is a mode in which the mobile body 100 autonomously moves to seek help from nearby people or nearby facilities in order to help the user when an abnormal situation occurs to the user (for example, a fall) during the movement with the user. In addition, in addition to (or instead of) following and guiding as described above, the mobile body 100 may also move while maintaining a distance from the user. In addition, in the present embodiment, as an example, the application of each control described later to a mobile body that moves with the user while avoiding surrounding objects is described, but the present invention is not limited thereto, and each control may also be applied to a mobile body that does not move with the user.

[0055] Figure 3 1 is a perspective view showing the moving body 100. In the following description, the front direction of the moving body 100 is referred to as the positive X direction, the rear direction of the moving body 100 is referred to as the negative X direction, the width direction of the moving body 100 is referred to as the positive Y direction, the left direction is referred to as the negative Y direction, and the directions orthogonal to the X direction and the Y direction are described with the height direction of the moving body 100 as the positive Z direction.

[0056] The mobile body 100 includes, for example, a base 110, a door 112 provided on the base 110, and wheels (a first wheel 120, a second wheel 130, and a third wheel 140) assembled on the base 110. For example, a user can open the door 112 and put luggage into or take luggage out of a storage portion provided on the base 110. The first wheel 120 and the second wheel 130 are driving wheels, and the third wheel 140 is an auxiliary wheel (driven wheel).

[0057] An information output unit 116 is provided on the side surface of the base 110 in the negative Z direction of the door portion and in the positive X direction of the base 110. An information output unit 118 is also provided on the side surface of the base 110 in the negative X direction as in the positive X direction. The area where the information of the information output unit 116 is output is an example of "a first information output area provided in the front part of the moving body so that a person existing in the periphery of the moving body in the front direction of the moving body can be visually recognized", and the area where the information of the information output unit 118 is output is an example of "a second information output area provided in the rear part of the moving body so that a person existing in the periphery of the moving body in the rear direction of the moving body can be visually recognized".

[0058] A cylindrical support body 150 extending in the positive Z direction is provided on the positive Z direction surface of the base body 110. An operation unit operated by a user, namely, an HMI (Human Machine Interface) 114 is provided near the connection between the support body 150 and the base body 110. The HMI 114 is an operation unit such as a touch panel. The HMI 114 may also be omitted.

[0059] A disk-shaped lighting device 160 is provided at the end in the positive Z direction of the support body 150. A cylindrical support body 170 extending in the positive Z direction is provided on the surface in the positive Z direction of the lighting device 160. A camera 180 for photographing the surroundings of the moving body 100 is provided at the end in the positive Z direction of the support body 170. The position where the camera 180 is provided may be any position different from the above.

[0060] The lighting device 160 includes one or more light sources, and controls one or more light sources to radiate light from a specified area in the radiable area that can radiate light. The radiable area is an area facing the horizontal direction (a direction orthogonal to the Z direction which is the vertical direction). The radiable area is set to be circular or substantially circular. In other words, the radiable area is an area that is set to be circular or substantially circular in a specified angle range in the radiation direction relative to the vertical axis (Z direction) of the moving body 100. The specified angle range can be a range of 360 degrees, or an angle range less than 360 degrees. The specified angle range can also be, for example, an angle range of 180 degrees or 270 degrees.

[0061] 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.

[0062] The information output unit 116 and the information output unit 118 are, for example, quadrilateral or substantially quadrilateral shapes with a side of several centimeters to several tens of centimeters. The shape is not limited to a quadrilateral, and other shapes are also possible. The information output unit 116 and the information output unit 118 are devices that can display information using a segment display using an LED (light-emitting diode), a liquid crystal display, an organic EL (Electro Luminescence) display, and the like. The information output unit 116 and the information output unit 118, for example, notify the user or a person around the mobile body 100 other than the user of various information such as the mode set in the mobile body 100, information indicating the direction in which the mobile body 100 is traveling, and information indicating the amount of power stored in the battery 134.

[0063] Figure 4 FIG. 1 is a diagram showing an example of a functional configuration of the mobile object 100. Figure 3 In addition to the functional structure shown, the mobile body 100 further includes a first motor 122, a second motor 132, a battery 134, a brake device 136, a steering device 138, a communication unit 190, and a control device 200. 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. The first motor 122 is an in-wheel motor provided in the rim of the first wheel 120, and the second motor 132 may also be an in-wheel motor provided in the rim of the second wheel 130.

[0064] 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.

[0065] The communication unit 190 is a communication interface for communicating with the terminal device 2 or the management device 10 .

[0066] [Control device]

[0067] The control device 200 includes, for example, an information processing unit 202, an identification unit 204, a track generation unit 206, a driving control unit 208, a lighting control unit 210, an output control unit (notification control unit) 220, and a storage unit 230. The information processing unit 202, the identification unit 204, the track generation unit 206, the driving control unit 208, the lighting control unit 210, and the output control unit 220 are implemented by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be implemented by hardware (including a circuit unit: circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Prograable Gate Array), and a GPU (Graphics Processing Unit), or may be implemented by the cooperation of software and hardware. The program may 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 may 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 to a drive device. The storage unit 230 is implemented by a storage device such as a HDD, a flash memory, or a RAM (Random Access Memory). The storage unit 230 stores control information 232 described later. Both or one of the track generation unit 206 and the travel control unit 208 is an example of a "mobility control unit".

[0068] The information processing unit 202 manages information acquired from, for example, the terminal device 2 or the management device 10 .

[0069] The recognition unit 204 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 located in the vicinity of the mobile body 100 based on the image captured by the camera 180, for example. The object includes traffic participants, obstacles existing in facilities and roads, etc. The recognition unit 204 recognizes and tracks the user of the mobile body 100. For example, the recognition unit 204 tracks the user based on the image captured by the user registered when the user uses the mobile body 100 (for example, the user's facial image), 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 204 recognizes the gesture performed by the user. In addition, a detection unit such as a radar device or LIDAR other than the camera may be provided in the mobile body 100. In this case, the recognition unit 204 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.

[0070] The track generation unit 206 generates a track 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 track generation unit 206 generates a track that allows the moving body 100 to move smoothly to the target location. The track generation unit 206 generates a track corresponding to the movement of the moving body 100, for example, based on the correspondence relationship between the gesture and the movement determined in advance, or generates a track for traveling to the destination while avoiding the surrounding objects. In addition, the track generation unit 206 generates a track for following the user being tracked, for example. The track generation unit 206 generates a track corresponding to the movement based on a preset pattern, for example. The track generation unit 206 generates a plurality of tracks corresponding to the movement of the moving body 100, calculates the risk of each track, and when the total value of the calculated 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 track that meets the reference is adopted as the track for the moving body 100. For example, the risk tends to be higher as the distance between the track (track point of the track) and the obstacle is smaller, and tends to be smaller as the distance between the track and the obstacle is larger.

[0071] The travel control unit 208 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.

[0072] The lighting control unit 210 controls the lighting device 160 to control the radiation pattern of light radiated by the lighting device 160. The lighting control unit 210 controls the radiation pattern based on, for example, the distance between the mobile body 100 and the user and the direction of the user relative to the mobile body 100, which change according to the movement of one or both of the mobile body 100 and the user. The radiation pattern includes, for example, the area where light is radiated in the radiatable area of ​​the lighting device 160, the intensity of light in each area, the color of light, and the like.

[0073] The lighting control unit 210 controls the lighting device 160 by referring to the control information 232 , for example. Figure 5 2 is a diagram showing an example of the content of the control information 232. The control information 232 is information in which the distance from the mobile object 100 to the user being tracked and the radiation pattern are associated with each other.

[0074] The output control unit 220 controls the information output unit 116 and the information output unit 118 to display desired information on the information output unit 116 and the information output unit 118. Details of the processing of the output control unit 220 will be described in the second embodiment.

[0075] Figure 6 is a diagram showing an example of a radiation pattern when the distance from the mobile object 100 to the user is a first distance. Figure 6 and the following Figure 7 In the embodiment, the irradiable area AR of the lighting device 160 is set to be arranged in a circle of 360 degrees in the horizontal direction. For example, when the distance is the first, the lighting control unit 210 controls the lighting device 160 so as to radiate light in an area of ​​the first width W1 in the irradiable area AR. The lighting control unit 210 controls the lighting device 160 so that the center C or the vicinity of the center C in the width direction of the first width W1 is the brightest, and the farther away from the center in the circumferential direction (width direction), the lower the brightness.

[0076] The center C is, for example, the direction in which the user being tracked is located. The center C is, for example, the direction directly facing the user being tracked. The center C is, for example, the position closest to the user in the irradiable area AR. The lighting control unit 210 sets the center C based on the direction in which the user being tracked is located, and further sets the width (angle range) of the area in the irradiable area AR in which light is radiated based on the distance between the user being tracked and the moving body 100.

[0077] Figure 71 is a diagram showing an example of a radiation pattern when the distance from the mobile body 100 to the user is the second distance. The second distance is a distance shorter than the first distance. For example, when the distance is the second distance, the lighting control unit 210 controls the lighting device 160 so as to radiate light in an area of ​​the second width W2 in the irradiable area AR. The second width W2 is a width wider than the first width W1. In this case, the center C is determined by the direction in which the user is present as described above.

[0078] In addition, in the above example, it is explained that the closer the distance between the moving body 100 and the user is, the wider the width of the area of ​​radiated light is, and the farther the distance between the moving body 100 and the user is, the narrower the width of the area of ​​radiated light is, but it can also be the opposite that the closer the distance between the moving body 100 and the user is, the narrower the width of the area of ​​radiated light is, and the farther the distance between the moving body 100 and the user is, the wider the width of the area of ​​radiated light is. In addition, the lighting control unit 210 can also change the radiation pattern in a different manner from the above according to the distance between the moving body 100 and the user.

[0079] In addition, the intensity of the radiated light may be changed according to the width of the region of the radiated light in the radiable region AR. For example, in the case of a narrow width, it is also possible to radiate stronger light than in the case of a wide width. For example, the intensity of the light at or near the center C in the case of a narrow width may be stronger than the intensity of the light at or near the center C in the case of a wide width. Thus, a user at a distance can more easily recognize that light is radiated.

[0080] Figure 8 This is a diagram for explaining the relationship between the position of the user and the center C of the area radiating light in the radiatable area of ​​the lighting device 160. At time T, when the user is located in the positive X direction and the positive Y direction of the mobile body 100, the center C is located directly opposite to the user. When the user visually recognizes the lighting device 160 from this position, the area radiating the strongest light is located in the front or near the front.

[0081] At time T+1, when the user moves in the positive X direction and the negative Y direction of the moving body 100, the center C moves in the negative Y direction according to the movement of the user, and the center C becomes a position directly facing the moved user. When the user visually recognizes the lighting device 160 from this position, the area radiating the strongest light is located at the front or near the front.

[0082] In the above example, the position of the center C changes when the user moves. However, the center C is similarly changed when the user does not move but the moving object 100 moves, or when both the user and the moving object 100 move.

[0083] As described above, the lighting control unit 210 controls the radiation pattern based on the distance and direction that change according to the movement of one or both of the moving object 100 and the user, so that the user can easily recognize whether the moving object 100 is performing an action corresponding to the user's intention during the user's movement.

[0084] [Scenario where a moving object follows the user]

[0085] Fig. 9 1 is a diagram showing a scene in which the mobile body 100 is following the user. In an area with many traffic participants, when the mobile body 100 is following the user U, sometimes the traffic participants are located between the mobile body 100 and the user, and the mobile body 100 cannot follow the user. Fig. 9 In this way, when the moving body 100's path is blocked by the traffic participants U1 and U2, the moving body 100 may move around the traffic participants U1 and U2 to follow the user's track. In such a scenario, the moving body 100 may stop or move in a direction that the user does not want. When the moving body 100 behaves as described above, the user may feel that the moving body 100 has lost sight of the user and stops following the user.

[0086] In addition, when there are obstacles such as traffic participants around the mobile body 100 and the mobile body 100 turns, there is a case where the mobile body 100 contacts the obstacle due to the turn. In such a case, the mobile body 100 may wait until there is no obstacle, or the mobile body 100 may move away from the obstacle, thereby the mobile body 100 moves away from the user. In such a case, the user may feel that the mobile body 100 has lost sight of the user and stops following.

[0087] Therefore, in this embodiment, when the mobile body 100 has not lost sight of the user, the lighting control unit 210 changes the radiation pattern of the lighting device 160 based on the distance between the mobile body 100 and the user and the direction of the user relative to the mobile body 100 as described above, so that the user can understand that the mobile body 100 has recognized the user.

[0088] [flow chart]

[0089] Fig.10 This is a flowchart of the process flow executed by the control device 200 of the mobile body 100. First, the recognition unit 204 of the control device 200 tracks the user (step S100). Next, the lighting control unit 210 of the control device 200 determines whether the recognition unit 204 continues tracking the user without losing sight of the user (step S102).

[0090] While tracking is continuing, the lighting control unit 210 determines the distance from the mobile body 100 to the user and the direction of the user relative to the mobile body 100 (step S104). Next, the lighting control unit 210 sets the center of the radiation area (the area where light is radiated in the radiatable area) according to the determined direction, and sets the width of the radiation area according to the distance (step S106). Next, the lighting control unit 210 controls the lighting device 160 to radiate light based on the radiation pattern of the set center and width (step S108).

[0091] If the tracking is not continued, the lighting control unit 210 performs a predetermined control (step S110). For example, the lighting control unit 210 radiates light from the entire radiable area, or radiates a predetermined area of ​​the radiable area with a color different from the color of light radiated when the tracking is continued. If the tracking is not continued, the lighting control unit 210 controls the lighting device 160 to notify the user that the tracking is not continued. In addition, in this process, the radiation pattern may be determined using one of the distance and the direction.

[0092] [Modification 1]

[0093] In the above example, the radiation pattern is controlled based on the user's direction and the distance between the mobile body 100 and the user, but instead (or in addition to this), the radiation pattern can be controlled based on which area of ​​the area divided around the mobile body 100 the user is located in.

[0094] Fig.11 2 is a diagram showing an example of control information 232 according to a modification. The control information 232 is, for example, information in which regions and radiation patterns are associated with each other.

[0095] Fig.12 is a diagram for explaining an example of divided areas. Fig.12 In the example, a radial area centered on the moving body 100 is divided into an area within a specified distance from the moving body 100 and an area beyond the specified distance from the moving body 100, and each area is divided into eight equal parts. For example, the area is divided while the dividing line is shifted 45 degrees from the reference direction set for the moving body 100. For example, the area within a specified distance from the moving body 100 is divided into areas AR1A-AR1H, and the area beyond the specified distance from the moving body 100 is divided into areas AR2A-AR2H. When the user is in area AR1A, it is the second width W2, and the center C is a position directly opposite to the center of the arc dividing area AR1A. When the user is in area AR2A, it is the first width W1, and the center C is a position directly opposite to the center of the arc dividing area AR1A.

[0096] The control device 200 can easily cause the lighting device 160 to radiate light in a radiation pattern suitable for the user based on the area where the user exists.

[0097] [Modification 2]

[0098] In the second modification, the color of the light is changed according to the distance between the mobile body 100 and the user. The lighting control unit 210 changes the color of the light radiated in the radiatable area according to the distance from the mobile body 100 to the user. The lighting control unit 210 may radiate light of a warm color or a color close to a warm color (for example, red, orange, yellow, etc.) in the radiatable area when the distance from the mobile body 100 to the user is the third distance, compared with when the distance from the mobile body 100 to the user is the fourth distance longer than the third distance. This process may also be performed together with the change of the width of the area where the light is radiated as described above.

[0099] As described above, the control device 200 changes the color of the light according to the distance between the moving object 100 and the user, and thus it is possible to more easily recognize whether the moving object 100 is performing an action in accordance with the user's intention while the user is moving.

[0100] [Variation 3]

[0101] In the above example, it is described that the irradiable area of ​​the lighting device 160 is an area without boundaries. Fig.13 As shown, the irradiable area can also be composed of multiple areas AR1-AR-n. In addition, the irradiable area can also be not circular but Fig.13 In this case, for example, the lighting control unit 210 may radiate light from one of the plurality of radiatable areas corresponding to the direction of the user relative to the moving body 100, or may select two or more radiatable areas corresponding to the direction of the user relative to the moving body 100 from the plurality of radiatable areas and radiate light from the selected radiatable areas. Fig.13 In the example of FIG. 1 , a case where a plurality of radiatable regions are connected without gaps is described, but instead, gaps may exist between the plurality of radiatable regions.

[0102] [other]

[0103] In the above example, the light is adjusted in a manner that the brightness decreases as it moves from the center C toward the circumference (in a manner that the brightness decreases in stages, by gradient). Alternatively, the brightness can be adjusted in other ways. For example, a plurality of small lamps can be arranged in a mesh shape in the radiable area. In this case, it can also be controlled so that more lamps are lit at or near the center C, and the number of lamps lit decreases as it moves toward the circumference.

[0104] The color of the light radiated in the radiable area can also be set for each user. For example, the user can also operate the operation unit of the terminal device 2 or the mobile body 100 to set the color so that the favorite color is radiated. As a result, the color of the light radiated in the radiable area becomes the color set by the user. For example, in the case where there are multiple mobile bodies 100, the user can easily identify the mobile body 100 used by the user.

[0105] In addition, the color of the light radiated in the irradiable area can also be set for each mode of the mobile body 100. Modes include, for example, the above-mentioned following mode, guide mode, emergency mode, etc. In addition, the mode can also include a courier mode. The courier mode is a mode for delivering luggage to a designated location. For example, the color of light is determined for each mode, and light of a color corresponding to the mode is radiated in the irradiable area. Moreover, the color of light radiated in the irradiable area can also be set for each combination of a user and a mode. In this case, light of a color corresponding to the combination of the user and the mode is radiated in the irradiable area. As a result, a third party can also easily understand in which mode the mobile body 100 moves.

[0106] According to the first embodiment described above, the control device 200 identifies the distance from the mobile body 100 to the user and the direction of the user relative to the mobile body 100, and controls the radiation pattern of light based on the distance between the mobile body 100 and the user and the direction of the user relative to the mobile body 100 that change according to the movement of one or both of the mobile body 100 and the user, thereby making it easy to identify whether the mobile body has performed an action corresponding to the user's intention during the user's movement.

[0107] <Second Embodiment>

[0108] The second embodiment is described below. In the first embodiment, the control method of the lighting device 160 is described. In the second embodiment, the control method of the information output units 116 and 118 is described. The control of the first embodiment and the control of the second embodiment can be performed overlappingly, or the control of one side can be performed. The content of the second embodiment is described below.

[0109] Fig.142 is a diagram for explaining information output by the information output unit 116 of the second embodiment. When the mobile body 100 is moving straight, the output control unit 220 causes the information output unit 116 to output light of a first color in the radiable area (information output area) of the information output unit 116. When the mobile body 100 is scheduled to start turning, the output control unit 220 causes the information output unit 116 to output light of a second color that does not contain information indicating the direction of the turn and has a lower brightness than the light of the first color in the radiable area for a predetermined time before the first predetermined time from the start of the turning action. Thereafter, the output control unit 220 causes the information output unit 116 to output information indicating the direction of the turn in the radiable area, and also causes the information output unit 116 to output information indicating the direction of the turn while the mobile body 100 is turning. In addition, instead of the above, when the mobile body 100 is scheduled to start turning, the output control unit 220 turns off the radiable area for a specified time before the first specified time from the start of the turning action, and then causes the information output unit 116 to output information indicating the turning direction in the radiable area, and also causes the information output unit 116 to output information indicating the turning direction while the mobile body 100 is turning.

[0110] The predetermined time for outputting the second color light is, for example, 0.2 seconds or longer. The second color is, for example, black or gray, and the first color is a color with a higher brightness than black or gray. Fig.14 As shown, the information indicating the turning direction is output in a manner such as an arrow indicating the turning direction and the arrow indicating the turning direction indicating the turning direction. In addition to the above, the information indicating the turning direction may also be text, symbols, etc. In addition, in the above example, the case where the brightness of the second color light is lower than the first color light is described, but instead, the brightness of the second color light can be different from the brightness of the first color light. For example, the second color light may also be higher in brightness than the first color light.

[0111] Fig.15 1 is a diagram showing the relationship between the movement of the mobile body 100 and the information output by the information output unit 116. At time T, the mobile body 100 is set to a predetermined mode, and when the operation starts, the information output unit 116 outputs light of a color corresponding to the set mode. At time T+1, the mobile body 100 starts to move and goes straight. In this case, light of a color corresponding to the set mode is output.

[0112] At time T+2, the light of the second color is output. Time T+2 is the time before the first predetermined time from time T+4 when the moving body 100 starts the right turn action. The light of the second color is output for the predetermined time. Time T+3 is the time before the moving body 100 starts the right turn action and the predetermined time has passed from time T+2. At this time, the light of the second color including the information indicating the right turn is output. The output of this information continues until time T+5.

[0113] The time T+5 is the timing of the right turn action being completed. The right turn action being completed means, for example, that the directions of the first wheel 120 and the second wheel 130 match or coincide with the X direction. At the time T+5, the information indicating the right turn is deleted, and the second color light is output. This output mode continues for a predetermined time. Thereafter, at the time T+6 after the predetermined time has passed, the color light corresponding to the set mode is output.

[0114] As described above, the mobile body 100 causes the information output unit 116 to output a color corresponding to the set mode. In the case of turning, the information output unit 116 temporarily outputs light of a second color before turning, and then causes the information output unit 116 to output information indicating the direction of the turn, thereby making it easier for people around to recognize the state of the mobile body.

[0115] Here, Fig.16 In the comparative example shown, when the moving body X turns, the direction indicator L is turned on to notify the turning direction. However, the moving body X is different from a vehicle and is different in type, shape, and motion. Even if the direction indicator L is turned on, the surrounding people may not assume that the moving body X is turning but assume that it is performing other motions or receiving a predetermined instruction. In this case, if the moving body X performs a turning motion, it may come into contact with the surrounding people or hinder the motion of the surrounding people due to the unintended motion of the surrounding people, so countermeasures are required.

[0116] Therefore, as described above, the mobile body 100 of this embodiment controls the output mode of the information output by the information output unit 116 according to the movement of the mobile body 100. As described above, by temporarily changing the color to the second color before turning, the surrounding people pay attention, and then outputting the information indicating the turning direction. As a result, the surrounding people can easily imagine the movement of the mobile body 100.

[0117] In the above example, the information output unit 116 outputs information indicating the direction of the turn, but in addition to (or instead of) this, information indicating various states of the moving body 100 may be output. For example, the charging rate of the battery 134, the time during which the moving body 100 can operate, the distance the moving body 100 can move, etc. may be output.

[0118] Fig.17 1 is a diagram showing an example of the information output unit 116 that outputs the charging rate. For example, when the manager of the mobile body 100 operates the mobile body 100 or operates the terminal device owned by the manager to instruct the management device 10, the information output unit 116 outputs the charging rate of the battery 134. Thus, the manager can easily recognize the necessity of charging or replacing the battery 134.

[0119] According to the second embodiment described above, when the moving body 100 is moving straight, the output control unit 220 causes the information output unit 116 (or 118) to output light of a first color in the radiatable area (information output area); and when the moving body 100 is scheduled to start turning from a straight-moving state, before a first prescribed time from the start, the information output unit 116 outputs light of a second color that does not contain information indicating the turning direction and has a brightness lower than that of the light of the first color in the radiatable area for a prescribed time, and then causes the information output unit 116 to output information indicating the turning direction in the radiatable area, thereby providing information in a manner that enables people around to more easily identify the state of the moving body.

[0120] The above-described embodiment can be expressed as follows.

[0121] A mobile body, comprising:

[0122] a storage medium that stores computer-readable instructions; and

[0123] a processor connected to the storage medium,

[0124] The processor executes the computer-readable instructions to perform the following processing:

[0125] Identify objects and users around the mobile body based on the image;

[0126] controlling the moving object so as to move together with the user while avoiding the surrounding objects;

[0127] controlling a lighting device that radiates light from a prescribed area in a radiatable area capable of radiating light to control a radiation pattern of the light radiated by the lighting device;

[0128] identifying a direction in which the user is located relative to the moving object; and

[0129] The radiation pattern is controlled based on the direction that changes according to movement of one or both of the moving object and the user.

[0130] The above-described embodiment can be expressed as follows.

[0131] A mobile body, comprising:

[0132] a storage medium that stores computer-readable instructions; and

[0133] a processor connected to the storage medium,

[0134] The processor executes the computer-readable instructions to perform the following processing:

[0135] When a moving body capable of moving in an area passable by pedestrians is moving straight, controlling an information output unit having an information output area capable of visually recognizing objects around the moving body and outputting information indicating a turning direction of the moving body, so that the information output unit outputs light of a first color in the information output area; and

[0136] When the moving body is scheduled to start turning, before a first specified time from the start, the information output unit is caused to output light of a second color that does not contain information indicating the turning direction and has a brightness different from that of the first color light in the information output area for a specified time, or after the information output area is turned off for the specified time, the information output unit is caused to output information indicating the turning direction in the information output area.

[0137] As mentioned above, although the specific embodiment of the present invention is described using the embodiment, the present invention is not limited to such embodiment at all, and various modifications and substitutions can be added within the scope not departing from the gist of the present invention.

[0138] Description of reference numerals:

[0139] 1 Mobile system

[0140] 2 Terminal Devices

[0141] 10 Management Device

[0142] 100 Mobile

[0143] 110 Matrix

[0144] 112 Door

[0145] 116, 118 Information output unit

[0146] 120 First Wheel

[0147] 122 First Motor

[0148] 130 Second Wheel

[0149] 132 Second Motor

[0150] 134 Batteries

[0151] 140 The Third Wheel

[0152] 160 lighting fixtures

[0153] 180 Camera

[0154] 200 Control device

[0155] 202 Information Processing Department

[0156] 204 Identification Department

[0157] 206 Track Generation Unit

[0158] 208 Driving control unit

[0159] 210 Lighting Control Department

[0160] 220 Output control unit

[0161] 230 Storage

[0162] 232 Control information.

Claims

1. A mobile body, wherein: The mobile body comprises: A lighting device that radiates light from a prescribed area in a radiatable area capable of radiating light; a recognition unit that recognizes objects and users around the moving body based on an image captured of the moving body's surroundings; a movement control unit configured to control the moving body so as to move together with the user while avoiding the surrounding objects; as well as a radiation control unit that controls the lighting device to control a radiation pattern of light radiated by the lighting device, The recognition unit recognizes the direction in which the user is located relative to the moving object. The radiation control unit controls the radiation pattern based on the direction that changes according to movement of one or both of the moving object and the user.

2. The moving object according to claim 1, wherein: The irradiable area of ​​the lighting device is an area that is arranged in a circular or substantially circular shape within a predetermined angle range in the radiation direction relative to the vertical axis of the moving body. The radiation control unit controls the lighting device so that light is radiated in an area within an angle range preset for the radiation direction, centered at a position in the irradiable area that is directly opposite to the direction in which the user is present.

3. The moving object according to claim 2, wherein: The radiation control unit controls the lighting device so that the strongest light is radiated at a position or near a position directly facing the direction in which the user is located in the irradiable area, and weaker light is radiated as it is farther away from the directly facing position or near the position in the circumferential direction.

4. The moving object according to claim 1, wherein: The irradiable area of ​​the lighting device is an area that is arranged in a circular or substantially circular shape within a predetermined angle range in the radiation direction relative to the vertical axis of the moving body. The radiation control unit changes a radiation pattern of radiating the light in the radiatable area according to a distance from the moving object to a user.

5. The moving object according to claim 4, wherein: The radiation control unit radiates light from an area of ​​a first width in the irradiable area when the distance from the moving body to the user is a first distance, and radiates light from an area of ​​a second width wider than the first width when the distance from the moving body to the user is a second distance shorter than the first distance.

6. The moving object according to claim 1, wherein: The irradiable area of ​​the lighting device is an area that is arranged in a circular or substantially circular shape within a predetermined angle range in the radiation direction relative to the vertical axis of the moving body. The radiation control unit changes the color of light radiated in the radiatable area according to the distance from the moving object to the user.

7. The moving object according to claim 4, wherein: The radiation control unit radiates light of a warm color or a color close to a warm color in the radiatable area when the distance from the moving object to the user is a third distance compared to when the distance from the moving object to the user is a fourth distance longer than the third distance.

8. The moving object according to any one of claims 1 to 7, wherein: The user is the user that the mobile object is tracking.

9. The moving object according to claim 8, wherein: The irradiable area of ​​the lighting device is an area that is arranged in a circular or substantially circular shape within a predetermined angle range in the radiation direction relative to the vertical axis of the moving body. When the distance from the moving body to the user is a first distance, the radiation control unit radiates light from an area of ​​a first width centered on a position in the irradiatable area that is opposite to the direction in which the user is located; when the distance from the moving body to the user is a second distance shorter than the first distance, the radiation control unit radiates light from an area of ​​a second width wider than the first width centered on a position in the irradiatable area that is opposite to the direction in which the user is located.

10. A method for controlling a moving object, wherein: The control method of the mobile body causes the computer to execute the following processing: recognizing objects and users around the moving body based on an image captured of the moving body's surroundings; controlling the moving object so as to move together with the user while avoiding the surrounding objects; controlling a lighting device that radiates light from a prescribed area in a radiatable area capable of radiating light to control a radiation pattern of the light radiated by the lighting device; Identifying a direction of the user relative to the moving object; as well as The radiation pattern is controlled based on the direction that changes according to movement of one or both of the moving object and the user.

11. A program, wherein: The program causes the computer to execute the following processing: recognizing objects and users around the moving body based on an image captured of the moving body's surroundings; controlling the moving object so as to move together with the user while avoiding the surrounding objects; controlling a lighting device that radiates light from a prescribed area in a radiatable area capable of radiating light to control a radiation pattern of the light radiated by the lighting device; Identifying a direction of the user relative to the moving object; as well as The radiation pattern is controlled based on the direction that changes according to movement of one or both of the moving object and the user.

Images