Mobile body control device, mobile body control method, and storage medium

Abstract

Provided are a control device for a moving body, a control method for a moving body, and a storage medium capable of generating a path while preventing a robot from excessively approaching an obstacle. This control device for a moving body is provided with: a recognition unit that recognizes the surrounding situation of the moving body on the basis of at least an image obtained by capturing the surrounding situation of the moving body; a generation unit that generates, on the basis of the recognized surrounding situation and the set destination, a path from the moving body to the destination and configured by a passing point through which the moving body passes; and a control unit that controls the moving body such that the moving body moves to the destination via the passing point along the generated path. Whether or not the path is corrected is determined on the basis of the path and at least one of a first region with the obstacle as a reference, a second region with the obstacle as a reference and located outside the first region, and a third region with the obstacle as a reference and located outside the second region.

Description

Technical Field

[0001] This invention relates to a control device for a mobile body, a control method for a mobile body, and a storage medium. Background Technology

[0002] Previously, robots were known to guide users to desired locations or carry luggage (for example, see Japanese Patent Application Publication No. 2012-111011). The aforementioned robot references a movement speed database that establishes a correspondence between the maximum movement speed and each area within the environment, so as to move at a movement speed with the set maximum movement speed as the upper limit.

[0003] Generally, conventional robotics generates multiple waypoints and connects them to create a path when building a path to a destination. The robot then moves towards the destination while traversing these waypoints. However, conventional techniques treat the robot as a point mass without volume during path generation, which can lead to the robot approaching obstacles excessively. Summary of the Invention

[0004] The present invention was made in consideration of such circumstances, and one of its objectives is to provide a control device, a control method for the moving body, and a storage medium for a moving body capable of generating a path while preventing the robot from getting too close to obstacles.

[0005] The control device, control method, and storage medium of the mobile body of the present invention adopt the following structure.

[0006] (1): A control device for a mobile body according to one aspect of the present invention includes: an identification unit that identifies the surrounding conditions of the mobile body based at least on an image obtained by capturing the surrounding conditions of the mobile body; a generation unit that generates a path from the mobile body to the destination and consisting of the path points passed by the mobile body based on the identified surrounding conditions and a set destination; and a control unit that controls the mobile body to move along the generated path to the destination via the path points, wherein, if the surrounding conditions include obstacles, the generation unit determines whether to modify the path based on at least one of a first region based on the obstacles, a second region based on the obstacles and located outside the first region, and a third region based on the obstacles and located outside the second region, and the path.

[0007] (2): Based on the above (1) scheme, the generation unit decides to correct the path when the moving body comes into contact with the first region while moving along the path.

[0008] (3): Based on the above (1) scheme, the generation unit determines to correct the path when it determines that the moving body is in contact with the first region under the assumption that it is moving along the path.

[0009] (4): Based on the above (1) scheme, the generation unit generates the path in a manner that does not pass through the first region and passes through the third region in a way that is preferred over the second region.

[0010] (5): Based on the above (1) scheme, the generation unit generates the path by passing through the second region without passing through the first region, even though the third region contains other obstacles, but the second region does not contain the other obstacles.

[0011] (6): Based on any of the above schemes (1) to (5), the first region is a region in which the region representing the obstacle is expanded by an amount equal to the radius of the moving body.

[0012] (7): Based on any of the above schemes (1) to (5), the second region is a region in which the region representing the obstacle is expanded by an amount equal to the radius of the moving body plus a first predetermined distance.

[0013] (8): Based on the above (7) scheme, the third region is a region in which the region representing the obstacle is expanded by the radius of the moving body plus a second predetermined distance greater than the first predetermined distance.

[0014] (9): Another aspect of the present invention provides a method for controlling a mobile body, which causes a computer to perform the following processing: at least based on an image obtained by capturing the surrounding conditions of the mobile body, identify the surrounding conditions of the mobile body; based on the identified surrounding conditions and a set destination, generate a path from the mobile body to the destination and consisting of transit points traversed by the mobile body; control the mobile body to move along the generated path through the transit points to the destination; and, if the surrounding conditions include obstacles, determine whether to modify the path based on at least one of a first region based on the obstacle, a second region based on the obstacle and located outside the first region, and a third region based on the obstacle and located outside the second region, and the path.

[0015] (10): A storage medium storing a program according to another aspect of the present invention, the program causing a computer to perform the following processing: at least based on an image obtained by capturing the surrounding conditions of the moving body, identifying the surrounding conditions of the moving body; generating a path from the moving body to the destination and consisting of transit points traversed by the moving body, based on the identified surrounding conditions and a set destination; controlling the moving body to move along the generated path via the transit points to the destination; and, if the surrounding conditions include obstacles, determining whether to modify the path based on at least one of a first region based on the obstacle, a second region based on the obstacle and located outside the first region, and a third region based on the obstacle and located outside the second region, and the path.

[0016] According to the schemes (1) to (10), path generation can be performed while preventing the robot from getting too close to the obstacle. Attached Figure Description

[0017] Figure 1 This is a diagram illustrating an example of the structure of a mobile body system including a mobile body.

[0018] Figure 2 This is a diagram used to illustrate an example of a method for utilizing a moving object.

[0019] Figure 3 This is a diagram used to illustrate the induced pattern.

[0020] Figure 4 This is a three-dimensional view showing the moving object.

[0021] Figure 5 This is a diagram illustrating an example of the functional structure of a moving body.

[0022] Figure 6 This is a diagram showing an example of a path generated by the path generation unit.

[0023] Figure 7 This is a diagram showing another example of a path generated by the path generation unit.

[0024] Figure 8 This is a diagram showing yet another example of a path generated by the path generation unit.

[0025] Figure 9 This is a flowchart illustrating an example of a process performed by a control device. Detailed Implementation

[0026] Hereinafter, embodiments of the control device for the mobile body, the control method for the mobile body, and the storage medium of the present invention will be described with reference to the accompanying drawings.

[0027] Figure 1 This diagram illustrates an example of the structure of a mobile system 1 including mobile body 100. The mobile system 1 includes, for example, one or more terminal devices 2, a management device 10, an information providing device 20, and one or more mobile bodies 100. They communicate, for example, via a network NW. The network NW is, for example, any network such as a LAN, WAN, or Internet connection.

[0028] [Terminal Device]

[0029] Terminal device 2 is, for example, a computer device such as a smartphone or tablet. Terminal device 2, for example, requests permission to use the mobile body 100 from the management device 10, or obtains information indicating permission to use, based on the user's operation.

[0030] [Management Device]

[0031] According to the request of the terminal device 2, the management device 10 grants the user of the terminal device 2 the right to use the mobile device 100, or manages the reservation of the use of the mobile device 100. For example, the management device 10 generates and manages schedule information that establishes a correspondence between the identification information of pre-registered users and the date and time of the reservation of the use of the mobile device 100.

[0032] [Information Providing Device]

[0033] The information providing device 20 provides the mobile body 100 with the location of the mobile body 100, the area in which the mobile body 100 is moving, and map information of the surrounding area. The information providing device 20 can also generate a path to the destination of the mobile body 100 according to the request of the mobile body 100, and provide the generated path to the mobile body 100.

[0034] [Moving entity]

[0035] The mobile body 100 is used by the user in accordance with the following usage scheme. Figure 2This diagram illustrates one example of how the mobile body 100 can be used. The mobile body 100 is positioned, for example, at a designated location in a facility or street. When a user wants to use the mobile body 100, they can operate the operation unit (not shown) of the mobile body 100 to begin use, or operate the terminal device 2 to begin use. For example, when a user is out shopping and has too much luggage, they can start using the mobile body 100 and put their luggage into the storage compartment of the mobile body 100. Furthermore, the mobile body 100 moves with the user autonomously, following their movements. The user can continue shopping or proceed to their next destination while their luggage is stored in the mobile body 100. For example, the mobile body 100 can move alongside the user on sidewalks or crosswalks in driveways. The mobile body 100 can move in areas accessible to pedestrians, such as driveways and sidewalks. For example, the mobile body 100 can also be used in indoor or outdoor facilities or on private land, such as shopping malls, airports, parks, and theme parks, and can move in areas accessible to pedestrians.

[0036] The mobile body 100 can also move autonomously in modes such as inducement mode and emergency mode, in addition to following the user's follow mode as described above.

[0037] Figure 3 This diagram illustrates the concept of an induction pattern. An induction pattern is a method of guiding a user towards a specified destination, autonomously moving in front of the user and matching the user's speed to guide them. For example... Figure 3As shown, in a shopping mall, when a user is searching for a specific item, if the user requests guidance to the mobile device 100 to the location of that item, the mobile device 100 will guide the user to that location. This allows the user to easily find the desired item. It should be noted that when the mobile device 100 is used in a shopping mall, the mobile device 100 or the information providing device 20 maintains information that establishes a correspondence between the locations of the items, shops, and facilities within the shopping mall and map information, as well as map information of the shopping mall. This map information contains detailed map information, including the width of roads and pathways. Furthermore, the guidance mode can also be a mode that guides the user to a destination inferred based on map information and the user's actions (including orientation, speed, behavior, etc.), even if the user does not specify a destination. For example, the mobile device 100 or the information providing device 20 can detect the user's orientation based on an image captured by the camera 180 (described later), set a straight line representing the detected user orientation, and infer the destination from the locations registered in the map information that intersect with or are closest to this line. Additionally, for example, the mobile device 100 or the information providing device 20 may pre-register multiple gestures (e.g., gestures for drinking a beverage, gestures for charging a mobile phone, etc.), and compare the user's behavior detected from the image with the registered gestures to predetermine the destination as a location in the map information that meets the requirements of the gesture (e.g., restaurants, charging facilities, etc.). Furthermore, for example, the mobile device 100 or the information providing device 20 may also predetermine the destination as a location in the facilities stored in the map information that has been most frequently set as a destination by the user in the past.

[0038] Emergency mode is a mode in which the mobile body 100 moves autonomously to seek help from nearby people or facilities in order to assist the user in case of an abnormal situation (such as falling) while moving with the user. In addition to following and guiding as described above, the mobile body 100 can also move while maintaining a distance from the user.

[0039] Figure 4 This is a perspective view showing the movable body 100. In the following description, the forward direction of the movable body 100 is defined as the positive x-direction, the rearward direction of the movable body 100 is defined as the negative x-direction, the left direction of the width direction of the movable body 100 relative to the positive x-direction is defined as the positive y-direction, the right direction of the width direction of the movable body 100 relative to the positive x-direction is defined as the negative y-direction, and the direction orthogonal to the x-direction and y-direction and the height direction of the movable body 100 is defined as the positive z-direction.

[0040] The mobile body 100 includes, for example, a base 110, a door 112 provided on the base 110, and wheels (first wheel 120, second wheel 130, and third wheel 140) assembled on the base 110. For example, a user can open the door 112 to put luggage into or take luggage out of the storage compartment provided on the base 110. The first wheel 120 and the second wheel 130 are drive wheels, and the third wheel 140 is an auxiliary wheel (driven wheel). The mobile body 100 may also be able to move using a structure other than wheels, such as tracks.

[0041] A cylindrical support 150 extending in the positive z-direction is provided on the surface of the base 110. A camera 180 for photographing the surrounding area of ​​the moving body 100 is provided at the end of the support 150 in the positive z-direction. The position of the camera 180 can also be any position different from the one described above.

[0042] Camera 180 is, for example, a camera capable of capturing the periphery of the moving object 100 in a wide-angle (e.g., 360-degree) view. Camera 180 may also include multiple cameras. Camera 180 may also be implemented by combining multiple 120-degree cameras or multiple 60-degree cameras, for example.

[0043] Figure 5 This is a diagram illustrating an example of the functional structure of the mobile body 100. The mobile body 100, in addition to... Figure 4 In addition to the functional structure shown, it also 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 power supplied to the battery 134. The first motor 122 drives the first wheel 120, and the second motor 132 drives the second wheel 130. Alternatively, the first motor 122 may be an in-wheel motor located in the wheel portion of the first wheel 120, and the second motor 132 may be an in-wheel motor located in the wheel portion of the second wheel 130.

[0044] The braking device 136 outputs braking torque to each wheel based on the instruction of the control device 200. The steering device 138 is equipped with an electric motor. The electric motor, for example, applies force to a rack and pinion mechanism based on the instruction of 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 moving body 100.

[0045] The communication unit 190 is a communication interface used to communicate with the terminal device 2, the management device 10, or the information providing device 20.

[0046] [Control device]

[0047] The control device 200 includes, for example, an identification unit 202, a path generation unit 204, a drive control unit 206, and a storage unit 220. The identification unit 202, path generation unit 204, and drive control unit 206 are implemented, for example, by executing a program (software) using a hardware processor such as a CPU (Central Processing Unit). Some or all of these components can be implemented using hardware (including the circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit), or through the coordinated use of software and hardware. The program can be pre-stored in a storage device such as an HDD (Hard Disk Drive) or flash memory (a storage device with a non-transitory storage medium), or stored in a removable storage medium such as a DVD or CD-ROM (a non-transitory storage medium) and installed by mounting the storage medium onto the drive device. The storage unit 220 is implemented using a storage device such as an HDD, flash memory, or RAM (Random Access Memory). The storage unit 220 stores map information 222 referenced by the mobile body 100. The map information 222 may include, for example, map information provided by the information providing device 20, such as the location of the mobile body 100, the area the mobile body 100 is moving in, and the surrounding area. Some or all of the functional structures included in the control device 200 may also be incorporated into other devices. For example, other devices may communicate with the mobile body 100 and cooperate in controlling the mobile body 100.

[0048] The identification unit 202 identifies, for example, the position (distance from the mobile body 100 and direction relative to the mobile body 100) and states such as speed and acceleration of objects surrounding the mobile body 100 based on images captured by the camera 180. Objects include traffic participants, obstacles within facilities, and road obstacles. The identification unit 202 identifies and tracks users of the mobile body 100. For example, it tracks users based on images captured of users registered when using the mobile body 100 (e.g., user's facial image), user facial images provided by the terminal device 2 or management device 10 (or feature values ​​obtained from user facial images). The identification unit 202 also identifies gestures performed by the user. It should be noted that the mobile body 100 may also be equipped with a detection unit different from the camera, such as a radar device or LIDAR. In this case, the identification unit 202 identifies the surrounding conditions of the mobile body 100 using the detection results of the radar device or LIDAR instead of the image (or in addition to the image).

[0049] The path generation unit 204 generates a path to a destination based on the surrounding conditions of the mobile body 100 identified by the identification unit 202. When the mobile body 100 is in follow mode, this destination represents the user being followed, or a location within a specified range of the user. For example, the path generation unit 204 can set a specified location diagonally behind the user as the destination, allowing for visual confirmation from the user while the mobile body 100 follows them. Additionally, for example, the path generation unit 204 can determine the destination based on the user's walking speed to maintain a specified distance and prevent the mobile body from straying too far from the user. In the guidance mode, for example, it represents the location of goods or facilities set by the user. In this case, the user specifies the location of goods or facilities, and the mobile body 100 compares the specified location with map information 222, setting the determined location as the destination. Furthermore, when the path generation unit 204 is in guidance mode, it can set the user-defined location as the final destination and a location within a predetermined range from the current location of the mobile body 100 as a provisional destination, even if the user-defined location is far from the current location of the mobile body 100. Alternatively, in guidance mode, the user may not need to set a destination; the mobile body 100 may predict the user's direction of movement and move autonomously in front of the user, matching the user's speed. In this case, the path generation unit 204 can also set the destination of the mobile body 100 to a location within a predetermined range in front of the user.

[0050] The path is a route that allows the mobile body 100 to reasonably reach its destination, considering its forward direction (i.e., the x-direction of the mobile body 100). The path generation unit 204 generates multiple transit points for reaching the destination from the current location and connects these multiple transit points to generate a path. For example, the path generation unit 204 calculates the risk of each transit point. If the calculated risk meets a preset benchmark (e.g., the risk of each transit point is below threshold Th1) and the total calculated risk meets a preset benchmark (e.g., the total risk is below threshold Th2), the path that meets the benchmark is adopted as the target path for the mobile body 100 to move. Here, for risk, a larger value indicates that the mobile body 100 should not enter or approach it, and a value closer to zero indicates that it is more preferable for the mobile body 100 to pass through. Therefore, generally speaking, the closer to the location of the identified object, the larger the risk value; on the other hand, the farther away from the location of the identified object, the smaller the risk value.

[0051] The drive control unit 206 controls the motors (first motor 122, second motor 132), braking device 136, and steering device 138 in a manner that causes the moving body 100 to travel along the path generated by the path generation unit 204.

[0052] [Path generation]

[0053] Figure 6 This is a diagram illustrating an example of a path generated by the path generation unit 204. Figure 6 In the diagram, the combination TP of single-dotted lines TP_1 and TP_2 represents the path initially generated by the path generation unit 204. Reference numeral P1 indicates the points along the path that constitute the generated path TP, and reference numeral DP indicates the destination. When the mobile body 100 is traveling in follow mode, the destination DP can be a designated location diagonally behind the user U. When the mobile body 100 is traveling in guide mode, it can be a location set by the user, a location where the user-set location is set as the final destination, and a location within a specified range from the current location. Furthermore, the destination DP can also be one of multiple points along the path (i.e., in...). Figure 6 In the middle, P2 is the next stop after point P1.

[0054] As described above, the path initially generated by the path generation unit 204 is a path that allows the mobile body 100 to reasonably reach its destination, taking into account the forward direction and risks of the mobile body 100. However, the path initially generated by the path generation unit 204, like the prior art, treats the mobile body 100 as a point mass. Therefore, when the mobile body 100 travels along this path, it may get too close to or collide with obstacles.

[0055] [Multiple area settings]

[0056] In the context of the above situation, when the surrounding conditions identified by the identification unit 202 include obstacles, the present invention sets a first region based on the obstacle, a second region based on the obstacle and located outside the first region, and a third region based on the obstacle and located outside the second region. Based on at least one of these first regions, second regions, and third regions and the initially generated path, it determines whether to modify the path.

[0057] More specifically, in Figure 6In the diagram, reference numeral OB1 indicates an obstacle in the surrounding environment identified by the identification unit 202; reference numeral FR indicates a line defining a first region based on obstacle OB1; reference numeral SR indicates a line defining a second region based on obstacle OB1 and located outside the first region; and reference numeral TR indicates a line defining a third region based on obstacle OB1 and located outside the second region. The first region FR is defined as a region in which the area representing obstacle OB1 is expanded by the radius d of the moving body 100. The second region SR is defined as a region in which the area representing obstacle OB1 is expanded by the radius d of the moving body 100 plus a first predetermined distance d1. The third region TR is defined as a region in which the area representing obstacle OB1 is expanded by the radius d of the moving body 100 plus a second predetermined distance d2, which is greater than or equal to the first predetermined distance d1. That is, the first region FR is the region where the moving body 100 is required to stop in order to avoid collision with the obstacle OB1, the second region SR is the region where the moving body 100 travels with a normal distance from the obstacle OB1, and the third region TR is the region where the moving body 100 travels with a sufficient distance from the obstacle OB1.

[0058] First, the drive control unit 206 causes the mobile body 100 to travel along the path TP initially generated by the path generation unit 204. Without the mobile body 100 contacting the first region FR during travel, the mobile body 100 travels via... Figure 6 The path reaches the destination DP via point P1. On the other hand, if the moving body 100 comes into contact with the first region FR, the path generation unit 204 decides to correct the initially generated path TP based on the first region FR, the second region SR, and the third region TR. The path generation unit 204 corrects the path TP by avoiding the first region FR and prioritizing the passage through the third region TR over the second region SR. Figure 6 As an example, this illustrates an instance where the mobile body 100 comes into contact with the first region FR at location CP. Therefore, the path TP_1 from the contact point CP to the waypoint P1 is corrected to path TP_1' by passing through the third region TR. This allows the mobile body 100 to travel with a sufficient distance from the obstacle OB1. In other words, according to this embodiment, path generation can be performed while preventing the robot from getting too close to the obstacle.

[0059] It should be noted that, in Figure 6 In this invention, only the path TP_1 from the contact point CP to the transit point P1 is corrected. However, the present invention is not limited to such a structure. The path generation unit 204 may also consider the forward direction of the moving body 100 when entering the transit point P1 along the path TP_1', so as to correct the path TP_2 in a way that makes the switch from path TP_1 to path TP_2 smooth.

[0060] Figure 7 This is a diagram showing another example of a path generated by the path generation unit 204. Figure 6 As an example, the case of correcting the path when the moving body 100 comes into contact with the first region FR will be explained. Alternatively, if the path generation unit 204 determines that the surrounding conditions identified by the recognition unit 202 include obstacles, it can determine whether the moving body 100 is in contact with the first region FR in advance, for example by simulation, based on the initially generated path TP and the first region FR set based on the obstacles. If it is determined that the moving body 100 is in contact with the first region FR, the path TP can be corrected. Figure 7 This example illustrates how the path generation unit 204 modifies path TP_1 to path TP_1'' by passing through the third region TR before the moving body 100 travels along the initially generated path TP.

[0061] Thus, although the path generation unit 204 corrects the initially generated path TP by prioritizing passage through the third region TR over the second region SR, since the third region TR has a larger area than the second region SR, there may be cases where the path TP cannot be corrected by passing through the third region TR due to the presence of an obstacle OB2 that is different from obstacle OB1. In such cases, the path generation unit 204 can also correct the path TP by passing through the second region TR.

[0062] Figure 8 This is a diagram showing yet another example of a path generated by the path generation unit 204. Figure 8 As an example, this illustrates a situation where obstacle OB2 is identified in addition to obstacle OB1. First, the drive control unit 206 causes the moving body 100 to travel along the path TP initially generated by the path generation unit 204. At location CP, the moving body 100 comes into contact with the first region FR. At this time, as... Figure 8 As shown, the third region TR contains obstacle OB2, while the second region SR does not. Therefore, the path generation unit 204 corrects path TP to path TP''' by passing through the second region SR instead of the first region FR. This prevents the robot from getting too close to obstacles, and the invention can be applied even on narrow paths.

[0063] It should be noted that, in Figure 8The description illustrates an example where the path generation unit 204 corrects the path within the range of only the second region SR when the third region TR contains the obstacle OB2. However, the present invention is not limited to such a structure. Path correction can also be performed using the third region TR as long as it does not come into contact with the obstacle OB2 (or as long as the distance from the obstacle OB2 can be ensured to be above a predetermined value).

[0064] and, Figures 6-8 This indicates that the path generation unit 204 sets the first region FR, the second region SR, and the third region TR only for obstacle OB1 and corrects the path TP. Alternatively, the path generation unit 204 may set the first region FR, the second region SR, and the third region TR for all identified obstacles, and correct the path TP by avoiding contact with all set first regions FR and prioritizing the passage through the third region TR over the second region SR.

[0065] [Processing flow]

[0066] The following is for reference Figure 9 The process flow of the processing performed by the control device 200 is described. Figure 9 This is a flowchart illustrating an example of the process executed by the control device 200. Figure 9 The processing shown is performed when the mobile body 100 is traveling in either follow mode or guide mode.

[0067] First, the recognition unit 202 identifies the surrounding conditions, including obstacles, based at least on an image obtained by capturing the surrounding conditions of the mobile body 100 (step S100). Next, the path generation unit 204 generates a path from the mobile body 100 to the destination, including multiple passing points, based on the identified surrounding conditions and the set destination (step S102). Next, the drive control unit 206 causes the mobile body 100 to travel along the generated path (step S104).

[0068] Next, the path generation unit 204 determines whether the moving body 100 has come into contact with a first area based on the identified obstacle (step S106). If it is determined that the moving body 100 has come into contact with the first area based on the identified obstacle, the path generation unit 204 corrects the path in a manner that avoids passing through the first area and prioritizes passing through a third area compared to a second area based on the obstacle (step S108). Next, the drive control unit 206 causes the moving body 100 to travel along the corrected path to the destination (step S110). On the other hand, if it is determined that the moving body 100 has not come into contact with the first area based on the identified obstacle, the drive control unit 206 causes the moving body 100 to travel along the path initially generated by the path generation unit 204 to the destination in step S110 (step S110).

[0069] According to this embodiment as described above, when the surrounding environment of the mobile body 100 includes obstacles, the path of the mobile body 100 is corrected based on a first region based on the obstacles, a second region based on the obstacles and located outside the first region, and a third region based on the obstacles and located outside the second region. Thus, path generation can be performed while preventing the robot from getting too close to the obstacles.

[0070] The implementation methods described above can be performed as follows.

[0071] A control device for a moving body, wherein,

[0072] The control device for the moving body is configured to include:

[0073] Storage medium, which stores computer-readable instructions; and

[0074] The processor, which is connected to the storage medium,

[0075] The processor performs the following processing by executing computer-readable instructions:

[0076] The surrounding conditions of the moving object are identified, at least based on images obtained from photographs of the object's surroundings.

[0077] Based on the identified surrounding conditions and the set destination, a path is generated from the mobile body to the destination, consisting of the locations traversed by the mobile body.

[0078] Controlling the mobile body in a manner that causes it to move along the generated path through the points along the way to the destination; and

[0079] When the surrounding conditions include obstacles, the path is generated based on a first region with the obstacles as a reference, a second region with the obstacles as a reference and located outside the first region, and a third region with the obstacles as a reference and located outside the second region.

[0080] The above description illustrates specific embodiments of the present invention, but the present invention is not limited to such embodiments in any way, and various modifications and substitutions can be made without departing from the spirit of the present invention.

Claims

1. A control device for a moving body, wherein, The control device for the moving body includes: The identification unit identifies the surrounding conditions of the moving object based at least on an image obtained by capturing the surrounding conditions of the moving object. The generation unit generates a path from the moving body to the destination, consisting of the points through which the moving body passes, based on the identified surrounding conditions and the set destination. as well as A control unit controls the mobile body to move along the generated path through the points along the way to the destination. When the surrounding conditions include obstacles, the generation unit determines whether to modify the path based on at least one of a first region based on the obstacle, a second region based on the obstacle and located outside the first region, and a third region based on the obstacle and located outside the second region, and the path.

2. The control device for the moving body according to claim 1, wherein, The generating unit determines to correct the path when the moving body comes into contact with the first region while moving along the path.

3. The control device for the moving body according to claim 1, wherein, If the generating unit determines that the moving body comes into contact with the first region under the assumption that it is moving along the path, it decides to correct the path.

4. The control device for a moving body according to claim 1, wherein, The generation unit corrects the path by bypassing the first region and prioritizing the passage through the third region over the second region.

5. The control device for a moving body according to claim 1, wherein, The generating unit corrects the path by passing through the second region instead of the first region, even if the third region contains other obstacles but the second region does not.

6. The control device for a moving body according to any one of claims 1 to 5, wherein, The first region is the region in which the area representing the obstacle is expanded by an amount equal to the radius of the moving body.

7. The control device for a moving body according to any one of claims 1 to 5, wherein, The second region is a region in which the area representing the obstacle is expanded by an amount equal to the radius of the moving body plus a first predetermined distance.

8. The control device for a moving body according to claim 7, wherein, The third region is a region in which the area representing the obstacle is expanded by adding a second predetermined distance, which is greater than or equal to the radius of the moving body, to a distance greater than or equal to the first predetermined distance.

9. A method for controlling a moving body, wherein, The control method for the moving body causes the computer to perform the following processing: The surrounding conditions of the moving object are identified, at least based on images obtained from photographs of the object's surroundings. Based on the identified surrounding conditions and the set destination, a path is generated from the mobile body to the destination, consisting of the locations traversed by the mobile body. The mobile body is controlled in such a way that it moves along the generated path through the points along the way to the destination. as well as If the surrounding conditions include obstacles, a decision is made on whether to modify the path based on at least one of a first region based on the obstacle, a second region based on the obstacle and located outside the first region, and a third region based on the obstacle and located outside the second region, and the path itself.

10. A storage medium having a stored program, wherein, The program causes the computer to perform the following processing: The surrounding conditions of the moving object are identified, at least based on images obtained from photographs of the object's surroundings. Based on the identified surrounding conditions and the set destination, a path is generated from the mobile body to the destination, consisting of the locations traversed by the mobile body. The mobile body is controlled in such a way that it moves along the generated path through the points along the way to the destination. as well as If the surrounding conditions include obstacles, a decision is made on whether to modify the path based on at least one of a first region based on the obstacle, a second region based on the obstacle and located outside the first region, and a third region based on the obstacle and located outside the second region, and the path itself.

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