Moving body, moving body control method and program

Abstract

A moving body capable of moving in a region through which pedestrians can pass is provided with: an information output unit that outputs information indicating a turning direction in an information output region visible from the periphery of the moving body; and a notification control unit that controls the information output unit such that the notification control unit causes the information output unit to output light of a first color in the information output region when the moving body is straight, and that the notification control unit causes the information output unit to output light of a second color in the information output region when the moving body is scheduled to start a turning operation before a first predetermined time from the start of the turning operation. And causing the information output unit to output information indicating the turning direction in the information output region after the information output region outputs light of a second color, which does not include information indicating the turning direction and has a different brightness from the light of the first color, for a predetermined time, or after the information output region is turned off for the predetermined time.

Description

Technical Field

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

[0002] Conventionally, a moving body that autonomously moves in an environment where the moving body autonomously moves has been disclosed. In this autonomous movement, the moving direction of the moving body can be easily recognized by people around it at a glance (for example, refer to Patent Document 1). The moving body includes: a light emitting device that emits light in the radial direction with respect to the vertical axis of the moving body; an acquisition unit that acquires the moving direction of the moving body; and a light emission control unit that causes the light emitting device to emit light in a light emission color that has been previously established in correspondence with the respective orientations in the radial direction based on the moving direction acquired by the acquisition unit. The light emitting device is arranged so that light of at least one light emission color can be emitted in an arbitrary 180-degree range in the radial direction.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2019-169339 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] However, in the above technology, the state of the moving body cannot always be easily recognized by people around it.

[0008] The present invention has been completed in view of such a situation, and one of its purposes is to provide a moving body, a control method for the moving body, and a program that provide information in a manner that enables people around it to more easily recognize the state of the moving body.

[0009] Solutions to the Problems

[0010] The moving body, the control method for the moving body, and the program according to the present invention adopt the following configuration.

[0011] (1): One aspect of the present invention relates to a moving body, wherein the moving body includes: an information output unit that outputs information indicating the turning direction of the moving body in an information output area that can be visually recognized from the periphery of the moving body, and the moving body can move in an area where pedestrians can pass; and a notification control unit that controls the information output unit. When the moving body is going straight, the notification control unit causes the information output unit to output light of a first color in the information output area. When the moving body is about to start a turning operation, before a first specified time from the start, the notification control unit causes the information output unit to output light of a second color that does not include information indicating the turning direction and has a brightness different from that of the light of the first color in the information output area. After a specified time, or after the information output area is turned off for the specified time, the notification control unit causes the information output unit to output information indicating the turning direction in the information output area.

[0012] (2): In the aspect of (1) above, the moving body includes: an identification unit that identifies objects and users around the moving body based on an image captured of the periphery of the moving body; and a movement control unit that controls the moving body to move while avoiding the surrounding objects and together with the user.

[0013] (3): In the aspect of (1) above, the specified time is a time of 0.2 seconds or more.

[0014] (4): In the aspect of (1) above, the brightness of the light of the second color is lower than the brightness of the light of the first color.

[0015] (5): In any one of the aspects of (1) to (4) above, the information output area includes a first information output area and a second information output area. The first information output area is provided at the front of the moving body in a manner that can be visually recognized by a person around the moving body in the front direction of the moving body, and the second information output area is provided at the rear of the moving body in a manner that can be visually recognized by a person around the moving body in the rear direction of the moving body.

[0016] (6): In the aspect of (5) above, when the moving body is running, the notification control unit causes the information output unit to output light of a first color in the information output area, and the first color is a color corresponding to the mode of the moving form set for the moving body.

[0017] (7): In the aspect of (6) above, when the turning of the moving body is completed, the notification control unit erases the information indicating the turning direction in the information output area and causes the information output unit to output light of the first color.

[0018] (8): One aspect of the present invention relates to a control method for a moving body. In the control method for the moving body, a computer is made to execute the following processing: when the moving body capable of moving in an area where pedestrians can pass is moving straight, an information output unit that outputs information indicating the turning direction of the moving body in an information output area that can be visually recognized from the periphery of the moving body is controlled, and the information output unit outputs light of a first color in the information output area; and when the moving body is about to start a turning operation, before a first specified time from the start, after the information output unit outputs light of a second color that does not include information indicating the turning direction and has a brightness different from that of the light of the first color in the information output area for a specified time, or after the information output area is extinguished for the specified time, the information output unit outputs information indicating the turning direction in the information output area.

[0019] (9): One aspect of the present invention relates to a program for a moving body. The program makes a computer execute the following processing: when the moving body capable of moving in an area where pedestrians can pass is moving straight, an information output unit that outputs information indicating the turning direction of the moving body in an information output area that can be visually recognized from the periphery of the moving body is controlled, and the information output unit outputs light representing a first color in the information output area; and when the moving body is about to start a turning operation, before a first specified time from the start, after the information output unit outputs light of a second color that does not include information indicating the turning direction and has a brightness different from that of the light of the first color in the information output area for a specified time, or after the information output area is extinguished for the specified time, the information output unit outputs information indicating the turning direction in the information output area.

[0020] Advantages of the Invention

[0021] According to the aspects (1)-(9), the moving body can provide information in a manner that makes it easier for surrounding people to recognize the moving body. For example, the moving body can provide information that makes it easier for surrounding people to recognize information indicating a turn.

[0022] According to (6), since the moving body outputs colors corresponding to the mode, it is possible to easily enable a user or surrounding people to recognize the mode set for the moving body. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 FIG. is an example showing the structure of a moving body system 1 including a moving body 100.

[0024] Figure 2This is a diagram for explaining the usage pattern of the mobile body 100.

[0025] Figure 3 This is a perspective view of the mobile body 100.

[0026] Figure 4 This is a diagram showing an example of the functional structure of the mobile body 100.

[0027] Figure 5 This is a diagram showing an example of the content of the control information 232.

[0028] Figure 6 This is a diagram showing an example of the radiation pattern when the distance from the mobile body 100 to the user is the first distance.

[0029] Figure 7 This is a diagram showing an example of the radiation pattern when the distance from the mobile body 100 to the user is the second distance.

[0030] Figure 8 This is a diagram for explaining the relationship between the position of the user and the center C of the area where the area light that can be emitted by the lighting device 160 is emitted.

[0031] Figure 9 This is a diagram showing the scene where the mobile body 100 follows the user.

[0032] Figure 10 This is a flowchart of the process executed by the control device 200 of the mobile body 100.

[0033] Figure 11 This is a diagram showing an example of the control information 232 of the modification example.

[0034] Figure 12 This is a diagram for explaining an example of the divided area.

[0035] Figure 13 This is a diagram showing another example of the area that can be emitted.

[0036] Figure 14 This is a diagram for explaining the information output by the information output unit 116 of the second embodiment.

[0037] Figure 15 This is a diagram showing the relationship between the operation of the mobile body 100 and the information output by the information output unit 116.

[0038] Figure 16 This is a diagram showing the mobile body X of the comparative example.

[0039] Figure 17 This is a diagram showing an example of the information output unit 116 that outputs the charging rate. Detailed implementation mode

[0040] Hereinafter, embodiments of a moving body, a control method for the moving body, and a program according to the present invention will be described with reference to the accompanying drawings.

[0041] <First Embodiment>

[0042] Figure 1 FIG. 1 is a diagram showing an example of the configuration of a moving body system 1 including a moving body 100. The moving body system 1 includes, for example, one or more terminal devices 2, a management device 10, and one or more moving bodies 100. They communicate with each other via a network NW, for example. Regarding the network NW, the network NW is, for example, an arbitrary network such as a LAN, a WAN, or an Internet line.

[0043] [Terminal Device]

[0044] The terminal device 2 is, for example, a computer device such as a smartphone or a tablet terminal. The terminal device 2 requests, for example, the management device 10 to provide permission to use the moving body 100 based on the user's operation, or acquires information indicating that the use has been permitted.

[0045] [Management Device]

[0046] The management device 10 grants the user of the terminal device 2 permission to use the moving body 100 according to the request of the terminal device 2, or manages the reservation for using the moving body 100. The management device 10 generates and manages, for example, schedule information in which the identification information of a pre-registered user is associated with the date and time of the reservation for using the moving body 100.

[0047] [Moving Body]

[0048] The moving body 100 is used by the user in the following usage form. Figure 2 FIG. 2 is a diagram for explaining the usage form of the moving body 100. The moving body 100 is disposed, for example, at a specified position in a facility or on a street. When the user wants to use the moving body 100, the user can start using it by operating the HMI of the moving body 100 (described later), or start operating the terminal device 2 to use the moving body 100. For example, when the user goes out shopping and the goods become more, the user starts using the moving body 100 and puts the goods into the storage unit of the moving body 100. Then, the moving body 100 moves with the user in a manner that autonomously follows the user. The user can continue shopping while the goods are stored in the moving body 100, or go to the next destination. For example, the moving body 100 moves with the user on a crosswalk on a sidewalk or a road. The moving body 100 can move in areas where pedestrians can pass, such as on a road and a sidewalk. For example, the moving body 100 can also be used inside or outside facilities such as a shopping mall, an airport, a park, and a theme park, or on private land, and can move in areas where pedestrians can pass.

[0049] In addition to the following the follower mode that follows the user, the mobile body 100 can also (or instead of this) move autonomously in modes such as an induction mode and an emergency mode. The induction mode is a mode that guides the user to a destination specified by the user. In this mode, the mobile body autonomously moves in front of the user at a speed matching the user's moving speed to lead the user. The emergency mode is a mode in which, when an abnormal situation (such as the user falling down) occurs during the user's movement, the mobile body moves autonomously to seek rescue from nearby people or nearby facilities to help the user. In addition, the mobile body 100 can also (or instead of this) move while maintaining a distance from the user that is neither too close nor too far. In addition, in the present embodiment, as an example, it has been described that each of the following controls is applicable to a mobile body that moves while avoiding surrounding objects together with the user, but it is not limited thereto, and each control can also be applicable to a mobile body that does not move together with the user.

[0050] Figure 3 FIG. 6 is a perspective view showing the mobile body 100. In the following description, the front direction of the mobile body 100 is set as the positive X direction, the rear direction of the mobile body 100 is set as the negative X direction, in the width direction of the mobile body 100, the right direction is set as the positive Y direction based on the positive X direction, the left side direction is set as the negative Y direction, and in the direction orthogonal to the X direction and the Y direction, the height direction of the mobile body 100 is set as the positive Z direction for explanation.

[0051] 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 to the base body 110. For example, the user can open the door portion 112 to put goods into a storage portion provided on the base body 110 or take out goods from the storage portion. The first wheel 120 and the second wheel 130 are drive wheels, and the third wheel 140 is an auxiliary wheel (a driven wheel).

[0052] An information output portion 116 is provided on the side surface of the door portion of the base body 110 in the negative Z direction and the positive X direction of the base body 110. An information output portion 118 is also provided on the side surface of the base body 110 in the negative X direction in the same manner as the positive X direction. The output information area of the information output portion 116 is an example of "a first information output area provided at the front portion of the mobile body in a manner that can be visually recognized by a person around the mobile body existing in the front direction of the mobile body", and the output information area of the information output portion 118 is an example of "a second information output area provided at the rear portion of the mobile body in a manner that can be visually recognized by a person around the mobile body existing in the rear direction of the mobile body".

[0053] On the face of the base body 110 in the positive Z direction, a columnar support body 150 extending in the positive Z direction is provided. Near the connection part of the support body 150 and the base body 110, an HMI (Human Machine Interface) 114 is provided, and the HMI 114 is an operation part operated by a user.

[0054] The HMI 114 is, for example, an operation part such as a touch panel. The HMI 114 can also be omitted.

[0055] At the end of the support body 150 in the positive Z direction, a disk-shaped lighting device 160 is provided.

[0056] On the face of the lighting device 160 in the positive Z direction, a columnar support body 170 extending in the positive Z direction is provided. At the end of the support body 170 in the positive Z direction, a camera 180 for photographing the surroundings of the moving body 100 is provided. The position where the camera 180 is provided can also be any position different from the above.

[0057] The lighting device 160 includes one or more light sources and controls one or more light sources so that light is emitted from a specified area in the light-emitting area capable of emitting light. The light-emitting area is an area facing the horizontal direction (a direction orthogonal to the Z direction as the vertical direction). The light-emitting area is set to be circular or substantially circular. In other words, the light-emitting area is an area that is set to be circular or substantially circular within a specified angular range in the emission direction with respect to the vertical axis (Z direction) of the moving body 100. The specified angular range can also be a range of 360 degrees or an angular range less than 360 degrees. The specified angular range can also be, for example, an angular range of 180 degrees or 270 degrees.

[0058] The camera 180 is, for example, a camera capable of photographing the periphery of the moving body 100 with a wide angle (for example, 360 degrees). The camera 180 can also include a plurality of cameras. The camera 180 can also be realized, for example, by combining a plurality of 120-degree cameras or a plurality of 60-degree cameras.

[0059] The information output parts 116 and 118 are, for example, in the shape of a quadrilateral or a substantially quadrilateral with a side length of several centimeters to several tens of centimeters. The shape is not limited to a quadrilateral and can also be other shapes.

[0060] The information output units 116 and 118 are devices capable of displaying information, such as a segment display using LEDs (light-emitting diodes), a liquid crystal display, or an organic EL (Electro Luminescence) display. The information output units 116 and 118 notify a user or a person around the mobile body 100 different from the user of various information, such as information indicating the mode set in the mobile body 100, information indicating the direction in which the mobile body 100 travels, and information indicating the amount of power stored in the battery 134.

[0061] Figure 4 This is a diagram showing an example of the functional structure of the mobile body 100. In addition to the Figure 3 functional structure shown, the mobile body 100 further includes a first motor 122, a second motor 132, a battery 134, a braking device 136, a steering device 138, a communication unit 190, and a control device 200. The first motor 122 and the second motor 132 operate using the power supplied by 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 may be an in-wheel motor provided in the wheel portion of the first wheel 120, and the second motor 132 may be an in-wheel motor provided in the wheel portion of the second wheel 130.

[0062] The braking 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, acts on a rack-pinion mechanism based on an instruction from the control device 200 to change the orientation of the first wheel 120 or the second wheel 130, thereby changing the forward path of the mobile body 100.

[0063] The communication unit 190 is a communication interface for communicating with the terminal device 2 or the management device 10.

[0064] [Control Device]

[0065] The control device 200 includes, for example, an information processing unit 202, an identification unit 204, a trajectory generation unit 206, a travel control unit 208, an illumination 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 trajectory generation unit 206, the travel control unit 208, the illumination control unit 210, and the output control unit 220 are implemented, for example, by 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 circuitry unit) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be implemented through the cooperation of software and hardware. The program may be pre-stored in a storage device (a storage device having a non-transitory storage medium) such as an HDD (Hard Disk Drive) or a flash memory, or may be stored in a removable storage medium (a non-transitory storage medium) such as a DVD or a CD-ROM, and is installed by attaching the storage medium to a drive device. The storage unit 230 is implemented by a storage device such as an HDD, a flash memory, or a RAM (Random Access Memory). Control information 232 described later is stored in the storage unit 230. Both or one of the trajectory generation unit 206 and the travel control unit 208 is an example of a "movement control unit".

[0066] The information processing unit 202 manages, for example, information obtained from the terminal device 2 or the management device 10.

[0067] The recognition unit 204 recognizes the positions (distance from the moving body 100 and direction relative to the moving body 100), as well as states such as speed and acceleration, of objects in the vicinity of the moving body 100 based on, for example, an image captured by the camera 180. The objects include traffic participants, obstacles existing in facilities or on roads, and the like. The recognition unit 204 recognizes and tracks the user of the moving body 100. For example, based on an image captured of the user registered when the user uses the moving body 100 (such as the user's facial image), or a facial image of the user provided by the terminal device 2 or the management device 10 (or feature quantities obtained from the user's facial image), the recognition unit 204 tracks the user. The recognition unit 204 recognizes the gestures made by the user. It should be noted that a detection unit different from the camera, such as a radar device or LIDAR, may be provided in the moving body 100. In this case, the recognition unit 204 may also use the detection results of the radar device or LIDAR instead of (or in addition to) the image to recognize the situation in the vicinity of the moving body M.

[0068] The trajectory generation unit 206 generates, for example, a trajectory that the moving body 100 should travel in the future based on the user's gestures, the destination set by the user, surrounding objects, the user's position, and the like. The trajectory generation unit 206 generates a trajectory that allows the moving body 100 to move smoothly to the target location. The trajectory generation unit 206 generates, for example, a trajectory corresponding to the action of the moving body 100 based on a pre-set correspondence between gestures and actions, or generates a trajectory for moving to the destination while avoiding surrounding objects. In addition, the trajectory generation unit 206 generates, for example, a trajectory for following the user being tracked. The trajectory generation unit 206 generates, for example, a trajectory corresponding to an action based on a pre-set pattern. The trajectory generation unit 206 generates a plurality of trajectories corresponding to the action of the moving body 100, calculates the risk of each trajectory, and when the total value of the calculated risks and the risks of each trajectory point meet a pre-set criterion (for example, when the total value is less than or equal to the threshold Th1 and the risk of each trajectory point is less than or equal to the threshold Th2), the trajectory that meets the criterion is adopted as the trajectory for the moving body 100 to move. The risk generally has the following tendency: the smaller the distance between the obstacle and the trajectory (the trajectory points of the trajectory), the higher the risk, and the larger the distance between the obstacle and the trajectory, the lower the risk.

[0069] The travel control unit 208 controls the motors (the first motor 122 and the second motor 132), the braking device 136, and the steering device 138 so that the moving body 100 travels along a trajectory that meets a pre-set criterion.

[0070] The lighting control unit 210 controls the lighting device 160 to control the emission pattern of light emitted by the lighting device 160. For example, the lighting control unit 210 controls the emission pattern based on 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 emission pattern refers to, for example, the area where light is emitted in the emission area of the lighting device 160, the intensity of light in each area, the color of light, etc.

[0071] The lighting control unit 210 controls the lighting device 160 with reference to the control information 232, for example. Figure 5 This 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 body 100 to the tracked user and the emission pattern are in a corresponding relationship.

[0072] The output control unit 220 controls the information output unit 116 and the information output unit 118 to cause the information output unit 116 and the information output unit 118 to display desired information. The details of the processing of the output control unit 220 will be described in the second embodiment.

[0073] Figure 6 This is a diagram showing an example of the emission pattern when the distance from the mobile body 100 to the user is the first distance. In Figure 6 and the following Figure 7 it is assumed that the emission area AR of the lighting device 160 is circularly arranged in the horizontal direction and is 360 degrees. For example, when the distance is the first distance, the lighting control unit 210 controls the lighting device 160 to emit light in an area with a first width W1 in the emission area AR. The lighting control unit 210 controls the lighting device 160 such that the center C or near the center C in the width direction of the first width W1 is the brightest, and the brightness decreases as it moves away from the center in the circumferential direction (width direction).

[0074] The center C is, for example, the direction where the tracked user is located. The center C is, for example, the direction directly facing the tracked user. The center C is, for example, the position closest to the user in the emission area AR. The lighting control unit 210 sets the center C based on the direction where the tracked user is located, and further sets the width (angle range) of the area where light is emitted in the emission area AR based on the distance between the tracked user and the mobile body 100.

[0075] Figure 7This is a diagram showing an example of the radiation pattern when the distance from the mobile body 100 to the user is the second distance. The second distance is shorter than the first distance. For example, when the distance is the second distance, the lighting control unit 210 controls the lighting device 160 to emit light in an area with a second width W2 in the radiable area AR. The second width W2 is wider than the first width W1.

[0076] In this case, the center C is determined by the direction in which the user exists as described above.

[0077] It should be noted that in the above example, it is described that the closer the distance between the mobile body 100 and the user, the wider the width of the area where the light is radiated, and the farther the distance between the mobile body 100 and the user, the narrower the width of the area where the light is radiated. However, it can also be the opposite, that is, the closer the distance between the mobile body 100 and the user, the narrower the width of the area where the light is radiated, and the farther the distance between the mobile body 100 and the user, the wider the width of the area where the light is radiated. In addition, the lighting control unit 210 can also change the radiation pattern in a form different from the above according to the distance between the mobile body 100 and the user.

[0078] In addition, the intensity of the radiated light can also be changed according to the width of the area where the light is radiated in the radiable area AR. For example, in the case of a narrow width, stronger light can be radiated compared to the case of a wide width. For example, the intensity of the light at the center C or near the center C in the case of a narrow width can be stronger than the intensity of the light at the center C or near the center C in the case of a wide width. Thus, a user at a distance can more easily recognize that the light is being radiated.

[0079] Figure 8 This is a diagram for explaining the relationship between the position of the user and the center C of the area where the light is radiated in the radiable area of the lighting device 160. At time T, when the user is in the positive X direction and positive Y direction of the mobile body 100, the center C becomes the position directly facing the user. When the user visually recognizes the lighting device 160 from this position, the area where the strongest light is radiated is located in the front or near the front.

[0080] At time T+1, when the user moves to the positive X direction and negative Y direction of the mobile body 100, according to the movement of the user, the center C moves to the negative Y direction, and the center C becomes the position directly facing the moved user. When the user visually recognizes the lighting device 160 from this position, the area where the strongest light is radiated is located in the front or near the front.

[0081] Note that in the above example, the change in the position of the center C when the user moves is described. However, the center C is also changed in the same manner when the user does not move but the moving body 100 moves, or when both the user and the moving body 100 move.

[0082] As described above, the lighting control unit 210 controls the emission pattern based on the distance and direction that change according to the movement of one or both of the moving body 100 and the user. As a result, the user can easily recognize whether the moving body 100 is performing an action corresponding to the user's intention while the user is moving.

[0083] [Scenario where the moving body follows the user]

[0084] Figure 9 This is a diagram showing a scenario where the moving body 100 follows the user. In an area with many traffic participants, when the moving body 100 follows the user U, there may be traffic participants between the moving body 100 and the user, and the moving body 100 may not be able to follow the user. As Figure 9 shown, when the forward path of the moving body 100 is blocked by the traffic participants U1 and U2, the moving body 100 may move on an orbit that bypasses the traffic participants U1 and U2 in a way to avoid them and follows the user. In such a scenario, the moving body 100 may sometimes stop, or the moving body 100 may travel in a direction unintended by the user. When the moving body 100 behaves as described above, the user may sometimes feel that the moving body 100 has lost track of the user and the following has stopped.

[0085] In addition, when there are obstacles such as traffic participants around the moving body 100 and the moving body 100 turns, the moving body 100 may sometimes come into contact with the obstacle due to the turn. In such a case, the moving body 100 may sometimes wait until there is no longer an obstacle, or the moving body 100 may move away from the obstacle, and thus the moving body 100 may perform an action of moving away from the user. In such a case, the user may also sometimes feel that the moving body 100 has lost track of the user and the following has stopped.

[0086] Therefore, in the present embodiment, when the moving body 100 has not lost track of the user, the lighting control unit 210 changes the emission pattern of the lighting device 160 based on the distance between the moving body 100 and the user and the direction of the user relative to the moving body 100 as described above. As a result, the user can understand that the moving body 100 recognizes the user.

[0087] [Flowchart]

[0088] Figure 10It is a flowchart of the process executed by the control device 200 of the moving 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 to track the user without losing the user (step S102).

[0089] In the case of continuing to track, the lighting control unit 210 determines the distance from the moving body 100 to the user and the direction of the user relative to the moving body 100 (step S104). Next, the lighting control unit 210 sets the center of the emission area (the area where light is emitted in the emission available area) according to the determined direction, and sets the width of the emission area according to the distance (step S106). Next, the lighting control unit 210 controls the lighting device 160 to emit light in an emission pattern obtained based on the set center and width (step S108).

[0090] In the case of not continuing to track, the lighting control unit 210 performs prescribed control (step S110). For example, the lighting control unit 210 causes light to be emitted from all areas of the emission available area, or causes a prescribed area of the emission available area to emit light in a color different from the color of the light emitted in the case of continuing to track. In the case of not continuing to track, the lighting control unit 210 controls the lighting device 160 to notify the user that tracking has not continued. It should be noted that in this process, the emission pattern can also be determined using one of the distance and the direction.

[0091] [Modification Example 1]

[0092] In the above example, the case of controlling the emission pattern based on the direction of the user and the distance between the moving body 100 and the user is described, but instead (or in addition), the emission pattern can be controlled according to which area among the areas distinguished around the moving body 100 the user is present in.

[0093] Figure 11 It is a diagram showing an example of the control information 232 of the modification example. The control information 232 is, for example, information in which areas and emission patterns are mutually correlated.

[0094] Figure 12 It is a diagram for explaining an example of the distinguished area. In Figure 12In the example, the radial region centered on the moving body 100 is divided into a region within a specified distance from the moving body 100 and a region exceeding the specified distance from the moving body 100, and is equally divided into eight regions. For example, the regions are divided by dividing lines staggered by 45 degrees from a reference direction set for the moving body 100. For example, the region within the specified distance from the moving body 100 is divided into regions AR1A - AR1H, and the region exceeding the specified distance from the moving body 100 is divided into regions AR2A - AR2H. When the user is in region AR1A, it is the second width W2, and the center C is the position directly opposite to the center of the circular arc dividing region AR1A. When the user is in region AR2A, it is the first width W1, and the center C is the position directly opposite to the center of the circular arc dividing region AR1A.

[0095] The control device 200 can easily cause the lighting device 160 to emit light in a radiation pattern suitable for the user based on the region where the user is present.

[0096] [Modification Example 2]

[0097] In Modification Example 2, the color of the light is changed according to the distance between the moving body 100 and the user. The lighting control unit 210 changes the color of the light emitted in the radiable region according to the distance from the moving body 100 to the user. The lighting control unit 210 may also emit light of a warmer color system or a color close to the warmer color system (such as red, orange, yellow light, etc.) in the radiable region when the distance from the moving body 100 to the user is the third distance compared to the case where the distance from the moving body 100 to the user is a fourth distance longer than the third distance. This process may also be executed together with the change in the width of the region where the light is emitted as described above.

[0098] Since the control device 200 changes the color of the light according to the distance between the moving body 100 and the user as described above, it is possible to more easily recognize whether the moving body 100 is performing an action corresponding to the intention of the user during the movement of the user.

[0099] [Modification Example 3]

[0100] In the above example, the case where the radiable region of the lighting device 160 is a single undivided region has been described, but it may also be composed of a plurality of regions AR1 - AR - n as shown Figure 13 shown. In addition, the radiable region may not be circular but as shown Figure 13is a polygon as shown. In this case, for example, the lighting control unit 210 may also cause light to be emitted from one light-emitting area corresponding to the direction of the user with respect to the moving body 100 among the plurality of light-emitting areas, or may select two or more light-emitting areas corresponding to the direction of the user with respect to the moving body 100 from the plurality of light-emitting areas, and cause light to be emitted from the selected light-emitting areas. It should be noted that in the Figure 13 example, the case where the plurality of light-emitting areas are connected without gaps has been described, and instead, there may be gaps between the plurality of light-emitting areas.

[0101] [Other]

[0102] In the above example, the case where the brightness is adjusted in such a way that it decreases as going from the center C to the circumferential direction (in a way that the brightness decreases step by step, according to gradation) has been described. Instead, the brightness may be adjusted by other means. For example, a plurality of small lamps may be arranged in a mesh pattern in the light-emitting area. In this case, it may also be controlled to light most of the lamps at the center C or near the center C, and the number of lit lamps decreases as going to the circumferential direction.

[0103] The color of the light emitted in the light-emitting area may also be set for each user. For example, the user may also operate the operation unit of the terminal device 2 or the moving body 100 to set the color so that the light of the preferred color is emitted. Thus, the color of the light emitted in the light-emitting area becomes the color set by the user. For example, in the case where there are a plurality of moving bodies 100, the user can easily identify the moving body 100 that he / she is using.

[0104] In addition, the color of the light emitted in the light-emitting area may also be set for each mode of the moving body 100. The mode is, for example, the above-mentioned follow mode, guidance mode, emergency mode, etc. In addition, the mode may also include a door-to-door delivery mode. The door-to-door delivery mode is a mode of delivering goods to a designated place. For example, the color of the light is determined for each mode, and the light of the color corresponding to the mode is emitted in the light-emitting area. Moreover, the color of the light emitted in the light-emitting area may also be set for each combination of the user and the mode. In this case, the light of the color corresponding to the combination of the user and the mode is emitted in the light-emitting area. Thus, a third party can also easily understand in what mode the moving body 100 is moving.

[0105] According to the first embodiment described above, the control device 200 recognizes the distance from the moving body 100 to the user and the direction in which the user exists with respect to the moving body 100, and controls the light emission pattern based on the distance between the moving body 100 and the user that changes according to the movement of one or both of the moving body 100 and the user, and the direction of the user with respect to the moving body 100. Thus, it is possible to easily recognize whether the moving body is performing an action corresponding to the intention of the user while the user is moving.

[0106] <Second Embodiment>

[0107] Hereinafter, the second embodiment will be described. In the first embodiment, the control method of the lighting device 160 was described. In the second embodiment, the control methods of the information output units 116 and 118 will be described. The control of the first embodiment and the control of the second embodiment may be executed overlappingly, or only one of the control of the first embodiment and the control of the second embodiment may be executed. Hereinafter, the content of the second embodiment will be described.

[0108] Figure 14 FIG. is a diagram for explaining the information output by the information output unit 116 according to the second embodiment. When the moving body 100 is going 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 moving body 100 is about to start a turning operation, before a first specified time from the start of the turning operation, the output control unit 220 causes the information output unit 116 to output light of a second color that does not include information indicating the turning direction and has a lower brightness than the light of the first color in the radiable area for a specified time. After that, the output control unit 220 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 moving body 100 is turning. Alternatively, instead of the above, when the moving body 100 is about to start a turning operation, before a first specified time from the start of the turning operation, the output control unit 220 causes the radiable area to go out for a specified time, 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 moving body 100 is turning.

[0109] The specified time during which the light of the second color is output is, for example, 0.2 seconds or a time of 0.2 seconds or more. The second color is, for example, black or gray, and the first color is a color with a higher brightness than black or gray. The information indicating the turning direction means, for example, as Figure 14An arrow indicating the turning direction, and an output in a form where the arrow indicating the turning direction flows along the turning direction. The information indicating the turning direction may also be text, a symbol, etc. in addition to the above. It should be noted that in the above example, the case where the light of the second color has a lower brightness than the light of the first color is described. Instead, the brightness of the light of the second color may be a brightness different from the brightness of the light of the first color. For example, the light of the second color may have a higher brightness than the light of the first color.

[0110] Figure 15 This is a diagram showing the relationship between the movement of the moving body 100 and the information output by the information output unit 116. At time T, the moving body 100 is set to a specified mode. When the operation starts, the information output unit 116 outputs light of a color corresponding to the set mode. Assume that at time T+1, the moving body 100 starts to move straight. In this case, light of a color corresponding to the set mode is output.

[0111] At time T+2, light of a second color is output. Time T+2 is a time before the first specified time from the timing when the moving body 100 starts the right-turning operation, i.e., time T+4. The light of the second color is output for a specified time. Time T+3 is a timing before the moving body 100 starts the right-turning operation and after a specified time has elapsed since time T+2. At this time, light of the second color including information indicating a right turn is output. The output of this information continues until time T+5.

[0112] Time T+5 is the timing when the right-turning operation ends. The end of the right-turning operation means that, for example, the orientations of the first wheel 120 and the second wheel 130 coincide or are aligned with the X direction. At time T+5, the information indicating a right turn is erased, and light of the second color is output. This output form continues for a specified time. After that, at time T+6 when a specified time has elapsed, light of a color corresponding to the set mode is output.

[0113] As described above, the moving body 100 causes the information output unit 116 to output a color corresponding to the set mode. In the case of turning, before turning, the information output unit 116 temporarily outputs light of a second color and then outputs information indicating the turning direction, so that the state of the moving body can be more easily recognized by the surrounding people.

[0114] Here, Figure 16In the case where the moving body X of the comparative example shown turns, the direction indicator L is lit to inform the turning direction. However, unlike a vehicle or the like, the moving body X differs in type, shape, movement, etc. Even if the direction indicator L is lit, sometimes people around do not envision that the moving body X turns, but envision other actions or receive a specified instruction. In this case, when the moving body X performs a turning action, it sometimes comes into contact with people around due to the inadvertent actions of people around, or hinders the actions of people around. Therefore, countermeasures are needed.

[0115] Thus, as described above, the moving body 100 of the present embodiment controls the output form of the information output by the information output unit 116 according to the action of the moving body 100. As described above, the color is once changed to the second color before turning, thereby attracting the attention of people around, and then the information indicating the turning direction is output. Thus, people around can easily envision the action of the moving body 100.

[0116] It should be noted that in the above example, the case where the information output unit 116 outputs the information indicating the turning direction is described, but in addition to this (or instead of this), the information indicating various states of the moving body 100 may also be output. For example, the charging rate of the storage battery 134, the time that the moving body 100 can run, the distance that the moving body 100 can move, etc. may also be output.

[0117] Figure 17 It is a diagram showing an example of the information output unit 116 that has output the charging rate information. For example, when the manager of the moving body 100 operates the moving body 100 or operates the terminal device possessed by the manager to give an instruction to the management device 10, the information output unit 116 outputs the charging rate of the storage battery 134. Thus, the manager can easily identify the necessity of charging and the necessity of replacement of the storage battery 134.

[0118] According to the second embodiment described above, when the moving body 100 is going straight, the output control unit 220 causes the information output unit 116 (or 118) to output light of the first color in the radiable area (information output area). When the moving body 100 is about to start a turning action from the straight-going state, before the first specified time from the start, the information output unit 116 outputs light of the second color that does not include the information indicating the turning direction and has a lower brightness than the light of the first color in the radiable area. After a specified time, the information output unit 116 outputs the information indicating the turning direction in the radiable area. Thus, information can be provided in such a way that people around can more easily identify the state of the moving body.

[0119] The embodiments described above can be expressed as follows.

[0120] A moving body, comprising:

[0121] A storage medium that stores computer-readable instructions; and

[0122] A processor connected to the storage medium,

[0123] wherein the processor executes the computer-readable instructions to perform the following processes:

[0124] Identify objects and a user in the vicinity of a moving body based on an image;

[0125] Control the moving body to move while avoiding the objects in the vicinity and moving with the user;

[0126] Control an illumination device that emits light from a specified area within an area capable of emitting light, to control a radiation pattern of the emitted light of the illumination device;

[0127] Identify a direction in which the user exists relative to the moving body; and

[0128] Control the radiation pattern based on the direction that changes according to movement of one or both of the moving body and the user.

[0129] The above-described embodiment can be expressed as follows.

[0130] A moving body, comprising:

[0131] A storage medium that stores computer-readable instructions; and

[0132] A processor connected to the storage medium,

[0133] wherein the processor executes the computer-readable instructions to perform the following processes:

[0134] When the mobile body capable of moving in an area where pedestrians can pass is moving straight, the information output unit having an information output area is controlled to output light of a first color in the information output area, and the information output area can be visually recognized by an object around the mobile body and outputs information indicating the turning direction of the mobile body;

[0135] When the mobile body is about to start a turning operation, before a first specified time from the start, after the information output unit outputs light of a second color that does not include information indicating the turning direction and has a brightness different from that of the light of the first color 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 outputs information indicating the turning direction in the information output area.

[0136] The specific embodiments of the present invention have been described above using the embodiments, but the present invention is in no way limited to such embodiments, and various modifications and substitutions can be made without departing from the gist of the present invention.

[0137] Description of Reference Numerals

[0138] 1 Mobile body system

[0139] 2 Terminal device

[0140] 10 Management device

[0141] 100 Mobile body

[0142] 110 Base

[0143] 112 Door part

[0144] 116, 118 Information output unit

[0145] 120 First wheel

[0146] 122 First motor

[0147] 130 Second wheel

[0148] 132 Second motor

[0149] 134 Battery

[0150] 140 Third wheel

[0151] 160 Lighting device

[0152] 180 Camera

[0153] 200 Control device

[0154] 202 Information processing unit

[0155] 204 Recognition Unit

[0156] 206 Orbit Generation Unit

[0157] 208 Travel Control Unit

[0158] 210 Lighting Control Unit

[0159] 220 Output Control Unit

[0160] 230 Storage Unit

[0161] 232 Control Information

Claims

1. A moving body, wherein, the moving body includes: an information output unit that outputs information indicating the turning direction of the moving body in an information output area that can be visually recognized from the periphery of the moving body, and the moving body can move in an area where pedestrians can pass; and a notification control unit that controls the information output unit, when the moving body is going straight, the notification control unit causes the information output unit to output light of a first color in the information output area, when the moving body is about to start a turning operation, before a first specified time from the start, the notification control unit causes the information output unit to output light of a second color that does not include information indicating the turning direction and has a brightness different from that of the light of the first color in the information output area for a specified time, or after the information output area is extinguished for the specified time, the notification control unit causes the information output unit to output information indicating the turning direction in the information output area.

2. The moving body according to claim 1, wherein, the moving body includes: a recognition unit that recognizes objects and users around the moving body based on an image captured of the periphery of the moving body; and a movement control unit that controls the moving body to move while avoiding the surrounding objects and together with the user.

3. The moving body according to claim 1, wherein, the specified time is a time of 0.2 seconds or more.

4. The moving body according to claim 1, wherein, the brightness of the light of the second color is lower than the brightness of the light of the first color.

5. The moving body according to any one of claims 1 to 4, wherein, the information output area includes a first information output area and a second information output area, the first information output area is provided at the front part of the moving body in a manner that can be visually recognized by a person around the moving body in the front direction of the moving body, the second information output area is provided at the rear part of the moving body in a manner that can be visually recognized by a person around the moving body in the rear direction of the moving body.

6. The moving body according to claim 5, wherein, when the moving body is running, the notification control unit causes the information output unit to output light of a first color in the information output area, the first color is a color corresponding to a mode of a moving form set for the moving body.

7. The moving body according to claim 6, wherein, when the turning of the moving body is completed, the notification control unit erases the information indicating the turning direction in the information output area and causes the information output unit to output light of the first color.

8. A control method for a moving body, wherein, the control method for the moving body causes a computer to perform the following processing: when the moving body that can move in an area where pedestrians can pass is going straight, control an information output unit that outputs information indicating the turning direction of the moving body in an information output area that can be visually recognized from the periphery of the moving body, and cause the information output unit to output light of a first color in the information output area; and In a case where the moving body is about to start a turning operation, before a first predetermined time from the start, after the information output unit outputs light of a second color that does not include information indicating the turning direction and has a brightness different from that of the light of the first color in the information output area for a predetermined time, or after the information output area is turned off for the predetermined time, the information output unit outputs information indicating the turning direction in the information output area.

9. A program, wherein, the program causes a computer to execute the following processing: In a case where a moving body capable of moving in an area where a pedestrian can pass is moving straight, controlling an information output unit that outputs information indicating the turning direction of the moving body in an information output area that can be visually recognized from the periphery of the moving body, and causing the information output unit to output light of a first color in the information output area; and In a case where the moving body is about to start a turning operation, before a first predetermined time from the start, after the information output unit outputs light of a second color that does not include information indicating the turning direction and has a brightness different from that of the light of the first color in the information output area for a predetermined time, or after the information output area is turned off for the predetermined time, the information output unit outputs information indicating the turning direction in the information output area.

Images