Control system, control method, program and movable body

Abstract

To determine a stop position according to an environment.SOLUTION: A control system controls a movable body which is movable autonomously in a region where a pedestrian can move, and moves following an object pedestrian, and the control system comprises: a recognition part for recognizing an object around the pedestrian and the movable body; an identification part for determining a stop position corresponding to a kind of a set region and being different from the set region, when the object pedestrian enters the set region where the movable body should not enter; and a control part for moving the movable body to the determined stop position by interrupting the tracking of the object pedestrian.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a control system, a control method, a program, and a moving object. [Background technology]

[0002] 2. Description of the Related Art Conventionally, robots that guide users to desired locations or transport luggage are known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-111011 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above system, the stopping position of the moving object is not sufficiently considered.

[0005] The present invention has been made in consideration of the above circumstances, and one of its objectives is to provide a control system, a control method, a program, and a moving body that can determine a stopping position according to the environment. [Means for solving the problem]

[0006] The control system, the control method, the program, and the moving object according to the present invention employ the following configuration. (1): A control system according to one embodiment of the present invention is a control system that controls a moving body that is capable of autonomously moving within an area in which pedestrians can move and that moves by following a target pedestrian, and includes a recognition unit that recognizes the pedestrian and objects in the vicinity of the moving body, an identification unit that, when the target pedestrian enters a set area in which the moving body should not enter, determines a stopping position that is different from the set area and corresponds to the type of the set area, and a control unit that interrupts following the target pedestrian and moves the moving body to the determined stopping position.

[0007] (2): In the above aspect (1), the identification unit recognizes the type of the set area based on the type of object recognized by the recognition unit, or recognizes the type of the set area based on the position of the moving body and the type of the set area associated in map information.

[0008] (3): In the above embodiment (1) or (2), the stopping position according to the type of the set area is a position near the set area that is estimated not to prevent other pedestrians from entering the set area.

[0009] (4): In the above aspect (1) or (2), when the recognition unit recognizes a target object indicating that the set area is a set area related to a checkout counter and recognizes that the set area is a set area related to a checkout counter, the identification unit determines a stopping position at a position on the exit side of the facility in which the checkout counter is installed or a position on the exit side of the checkout counter, and the control unit moves the moving body to the stopping position.

[0010] (5): In the above aspect (4), the target object is a checkout counter, a shopping cart, or a shopping cart.

[0011] (6): In the above aspect (1) or (2), when the target pedestrian or the moving body enters the set area, the identification unit determines the stopping position based on the time from when the target pedestrian or the moving body enters a facility in the set area to when the target pedestrian enters the set area.

[0012] (7): In the above aspect (1) or (2), when the set area is a counter of a facility and the target pedestrian enters the set area related to the counter, if the target pedestrian or the moving body has visited the facility in which the counter is installed within a first predetermined time period, the identification unit determines that the stopping position is a position farther away from the entrance of the facility than the target pedestrian.

[0013] (8): In the above aspect (1) or (2), when the set area is a counter of a facility and the target pedestrian enters the set area related to the counter, if a second predetermined time or more has passed since the target pedestrian or the moving body visited the facility, the identification unit determines that the stopping position is a position closer to the exit of the facility than the target pedestrian.

[0014] (9): In the above aspect (1) or (2), when the target pedestrian enters a set area into which the moving body should not enter, the identification unit determines a stopping position that corresponds to the type of the set area, is different from the set area, and is located ahead of the target pedestrian based on the direction of movement of the target pedestrian.

[0015] (10): In the above aspect (1) or (2), when the identification unit recognizes that the set area is a toilet, it determines a predetermined area in front of the toilet as a stopping position, and the control unit moves the moving body to the stopping position.

[0016] (11): In the above aspect (10), the specified area in front of the toilet is an area outside the toilet and within a specified range from an entrance / exit of the toilet.

[0017] (12): In the above aspect (1) or (2), the control unit stops the moving body at the stopping position in response to the target pedestrian entering the set area, and then, when the target pedestrian exits the set area, causes the moving body to follow the target pedestrian.

[0018] (13): In the above aspect (12), when the target pedestrian exits the set area after the control unit has stopped the moving body at a stopping position, the control unit causes the moving body to resume following the target pedestrian while preventing the moving body from entering the set area.

[0019] (14) In another aspect of the control method of the present invention, a computer of a control system that controls a moving body that is capable of autonomously moving within an area in which pedestrians can move and that moves by following a target pedestrian recognizes the pedestrian and objects in the vicinity of the moving body, and, when the target pedestrian enters a set area in which the moving body should not enter, determines a stopping position that is different from the set area and corresponds to the type of the set area, and interrupts following the target pedestrian and moves the moving body to the determined stopping position.

[0020] (15): A program according to another aspect of the present invention causes a computer of a control system that controls a moving body that can move autonomously within an area in which pedestrians can move and that moves by following a target pedestrian to execute the following processes: recognizing the pedestrian and objects in the vicinity of the moving body; when the target pedestrian enters a set area in which the moving body should not enter, determining a stopping position that is different from the set area and corresponds to the type of the set area; and interrupting following the target pedestrian and moving the moving body to the determined stopping position.

[0021] (16): A program according to another aspect of the present invention is a moving body that is capable of autonomously moving within an area in which pedestrians can move and that moves by following a target pedestrian, the moving body recognizing the pedestrian and objects in the vicinity of the moving body, and when the target pedestrian enters a set area in which the moving body should not enter, determining a stopping position that is different from the set area and corresponds to a type of the set area, and interrupts following the target pedestrian and moves to the determined stopping position. Effect of the Invention

[0022] According to the aspects (1)-(16), a stopping position can be determined according to the environment. [Brief description of the drawings]

[0023] [Figure 1] 1 is a diagram showing an example of the configuration of a mobile object system 1 including a mobile object 100. FIG. [Diagram 2] FIG. 2 is a diagram for explaining an example of a usage mode of a moving object 100. [Diagram 3] FIG. 13 is a diagram for explaining a guidance mode. [Figure 4] FIG. 1 is a perspective view showing a moving body 100. [Diagram 5] 2 is a diagram illustrating an example of a functional configuration of a moving object 100. FIG. [Figure 6] 13 is a diagram showing an example of the contents of stop position information 228. FIG. [Figure 7] This is a diagram (1) to explain scene 1. [Figure 8] This is a diagram (2) to explain scene 1. [Figure 9] FIG. 13 is a diagram for explaining scene 2-1. [Figure 10] FIG. 13 is a diagram for explaining scene 2-2. [Figure 11] FIG. 13 is a diagram for explaining scene 3. [Figure 12] 4 is a flowchart showing an example of the flow of processing executed by the control device 200. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Hereinafter, with reference to the drawings, an embodiment of a control system, a control method, a program, and a moving body of the present invention will be described. The control system of the present invention controls a driving device of the moving body to move the moving body. The moving body in the present invention autonomously moves in an area where pedestrians walk, leading a leading subject and following the subject. The moving body can move in an area where pedestrians can move, even if a vehicle (car, motorcycle, light vehicle) cannot move. The area where pedestrians move is a sidewalk, a public open space, a floor in a building, etc., and may include a roadway. In the following description, it is assumed that no person rides on the moving body, but a person may ride on the moving body. The leading subject is, for example, one of the pedestrians, but may also be a robot or an animal. For example, the moving body moves a little ahead of an elderly user while heading toward a predetermined destination point, so that other pedestrians who are an obstacle to the user's movement do not get too close to the user (that is, it operates to make a way for the user). The user is not limited to the elderly, but may be a person who tends to have difficulty walking, a child, a person shopping at a supermarket, a patient moving in a hospital, a pet taking a walk, etc. Also, the user does not necessarily need to determine the destination point in advance, and the direction in which the user moves may be predicted and the vehicle may move autonomously in front of the user at the user's moving speed. Note that such an operation may not be performed all the time, but may be performed temporarily. For example, when a moving body runs alongside or pursues a user and detects a predetermined situation (e.g., the presence of an obstacle or traffic congestion) in the user's traveling direction, the moving body may temporarily lead the user by executing the algorithm of the present invention.

[0025] FIG. 1 is a diagram showing an example of the configuration of a mobile body system 1 including a mobile body 100. The mobile body system ("control system") 1 includes, for example, one or more terminal devices 2, a management device 10, an information providing device 30, and one or more mobile bodies 100. These communicate with each other, for example, via a network NW. The network NW is any network, such as a LAN, a WAN, or an Internet line. A part of the functional configuration included in the information providing device 30 may be mounted on the mobile body 100, and a part of the functional configuration included in the mobile body 100 may be mounted on the information providing device 30.

[0026] [Terminal Device] The terminal device 2 is, for example, a computer device such as a smartphone, a tablet terminal, etc. The terminal device 2 requests the provision of authority to use the mobile object 100 from the management device 10 based on, for example, an operation by a user, and obtains information indicating that the use has been permitted.

[0027] [Management device] In response to a request from the terminal device 2, the management device 10 grants the user of the terminal device 2 the authority to use the mobile object 100 and manages reservations for the use of the mobile object 100. The management device 10 generates and manages schedule information that associates, for example, preregistered user identification information with the date and time of reservations for the use of the mobile object 100.

[0028] [Information providing device] The information providing device 30 provides the mobile body 100 with the location of the mobile body 100, the area in which the mobile body 100 moves, and map information about the surrounding area. In response to a request from the mobile body 100, the information providing device 30 may generate a route to the destination of the mobile body 100 and provide the generated route to the mobile body 100.

[0029] [Mobile object] The mobile body 100 is used by a user in the following manner of use. FIG. 2 is a diagram for explaining an example of the manner of use of the mobile body 100. The mobile body 100 can autonomously move in an area where pedestrians can move. The mobile body 100 can pass through, for example, an area where vehicles cannot pass. The mobile body 100 is disposed, for example, at a predetermined position in a facility or a town. When a user wants to use the mobile body 100, the user can start using the mobile body 100 by operating an operation unit (not shown) of the mobile body 100, or can start using the mobile body 100 by operating the terminal device 2. For example, when a user goes shopping and has a lot of luggage, the user starts using the mobile body 100 and puts the luggage in a storage unit of the mobile body 100. Then, the mobile body 100 moves together with the user so as to autonomously follow the user. The user can continue shopping or move to the next destination with the luggage stored in the mobile body 100. For example, the mobile body 100 moves together with the user while moving on a sidewalk or a crosswalk on a roadway. The mobile body 100 can move in areas where pedestrians can pass, such as roadways and sidewalks. For example, the mobile body 100 may be used in indoor or outdoor facilities or private land, such as shopping centers, airports, parks, and theme parks, and can move in areas where pedestrians can pass.

[0030] The moving body 100 may be capable of moving autonomously in a mode such as a guidance mode or an emergency mode in addition to (or instead of) the following mode in which the moving body 100 follows the user as described above.

[0031] FIG. 3 is a diagram for explaining the guidance mode. The guidance mode is a mode in which the user is guided to a destination specified by the user, and the mobile unit moves autonomously in front of the user in accordance with the user's moving speed to lead the user. As shown in FIG. 3, when a user is looking for a specific product in a shopping center, if the user requests the mobile unit 100 to lead the user to the location of the specific product, the mobile unit 100 leads the user to the location of the product. This allows the user to easily find the specific product. When the mobile unit 100 is used in a shopping center, the mobile unit 100 or the information providing device 30 holds information in which the location of the product, the location of the store, the location of the facility in the shopping center, etc. are associated with map information, and map information of the shopping center. This map information includes detailed map information including the width of roads and passages.

[0032] The emergency mode is a mode in which the moving body 100 moves autonomously to request help from nearby people or facilities in order to help the user if something unusual happens to the user (e.g., the user falls) while moving with the user. In addition to (or instead of) following or guiding the user as described above, the moving body 100 may move while keeping a proper distance from the user.

[0033] 4 is a perspective view showing the moving body 100. In the following explanation, the forward direction of the moving body 100 is the plus x-direction, the rearward direction of the moving body 100 is the minus x-direction, the width direction of the moving body 100, which is the left direction based on the plus x-direction, the right direction is the minus y-direction, and the height direction of the moving body 100, which is a direction perpendicular to the x-direction and y-direction, is the plus z-direction.

[0034] The moving body 100 includes, for example, a base body 110, a door section 112 provided on the base body 110, and wheels (first wheel 120, second wheel 130, and third wheel 140) attached to the base body 110. For example, a user can open the door section 112 to put luggage into a storage section provided on the base body 110 or take luggage out of the storage section. The first wheel 120 and the second wheel 130 are driving wheels, and the third wheel 140 is an auxiliary wheel (driven wheel). The moving body 100 may be movable using a configuration other than wheels, such as caterpillars.

[0035] A cylindrical support 150 extending in the positive z direction is provided on the surface of the base 110 in the positive z direction. A camera 180 that captures an image of the surroundings of the moving body 100 is provided on the end of the support 150 in the positive z direction. The position at which the camera 180 is provided may be any position different from the above.

[0036] Camera 180 is, for example, a camera capable of capturing images of the periphery of moving body 100 at a wide angle (for example, 360 degrees). Camera 180 may include multiple cameras. Camera 180 may be realized by combining, for example, multiple 120-degree cameras or multiple 60-degree cameras.

[0037] 5 is a diagram showing an example of a functional configuration of the moving body 100. In addition to the functional configuration shown in FIG. 4, the moving body 100 further includes a first motor 122, a second motor 132, a battery 134, a brake device 136, a steering device 138, a communication unit 190, and a control device 200. The first motor 122 and the second motor 132 are operated by power supplied to the battery 134. The first motor 122 drives the first wheel 120, and the second motor 132 drives the second wheel 130. The first motor 122 may be an in-wheel motor provided in the wheel of the first wheel 120, and the second motor 132 may be an in-wheel motor provided in the wheel of the second wheel 130.

[0038] The brake device 136 outputs a brake torque to each wheel based on an instruction from the control device 200. The steering device 138 includes an electric motor. The electric motor applies a force to a rack-and-pinion mechanism based on an instruction from the control device 200 to change the direction of the first wheel 120 or the second wheel 130, thereby changing the course of the moving body 100.

[0039] The communication unit 190 is a communication interface for communicating with the terminal device 2, the management device 10, or the information providing device 30.

[0040] [Control device] The control device 200 includes, for example, a position identification unit 202, an information processing unit 204, a recognition unit 206, a stop position processing unit 208, a path generation unit 212, a trajectory generation unit 214, a control unit 216, and a storage unit 220. The position identification unit 202, the information processing unit 204, the recognition unit 206, the path generation unit 212, the trajectory generation unit 214, and the control unit 216 are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) 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 realized by cooperation between software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transient storage medium) such as a hard disk drive (HDD) or a flash memory, or may be stored in a removable storage medium (non-transient storage medium) such as a DVD or a CD-ROM, and installed by inserting the storage medium into a drive device. The storage unit 220 is realized by a storage device such as a HDD, a flash memory, or a random access memory (RAM). The stop position processing unit 208 is an example of a "determining unit".

[0041] The storage unit 220 stores control information 222, which is a control program for controlling the behavior of the moving object 100 referred to by the control unit 216, map information 224, set area information 226, and stop position information 228. The map information 224 is, for example, map information on the location of the moving object 100 provided by the information providing device 30, the area through which the moving object 100 moves, and the surroundings of the area.

[0042] The set area information 226 is a predetermined area that the moving body 100 should not enter. An area that should not be entered is an area where there is a high risk of interfering with the actions of traffic participants such as pedestrians if the moving body 100 enters the area. Examples of areas that should not be entered include counters (checkout counters) of facilities and their surrounding areas, and areas including entrances and exits. The position of the set area may be associated with the map information 224.

[0043] The stop position information 228 is information that specifies the stop position of the moving body 100 according to the type of the set area. FIG. 6 is a diagram showing an example of the contents of the stop position information 228. The stop position information 228 is, for example, information in which the type of the set area is associated with the stop position. For example, if the type of the set area is a checkout counter, the stop position is a position close to the exit of the facility where the checkout counter is installed. For example, if the type of the set area is a hospital counter and within a first predetermined time after the user enters the hospital, the stop position is a first position close to the entrance of the hospital. For example, if the type of the set area is a hospital counter and within a second predetermined time after the user enters the hospital, the stop position is a second position close to the exit of the hospital. The first position may be a position closer to the entrance of the facility than the second position, and the second position may be a position closer to the exit of the facility than the first position. The stop position is a position determined based on the set area. For example, the stop position may be determined as a position at a predetermined distance in the X direction with respect to the set area, or may be determined as a position at a predetermined distance in the direction of a reference point (e.g., an entrance / exit of a facility) with respect to the set area. If an obstacle is present at the stop position, the moving body 100 may correct the stop position to a position at a predetermined distance from the obstacle.

[0044] The position identifying unit 202 identifies the position of the moving body 100. The position identifying unit 202 acquires position information of the moving body 100 by a GPS (Global Positioning System) device (not shown) built into the moving body 100. The position information may be, for example, two-dimensional map coordinates or latitude and longitude information. The position identifying unit 202 may also estimate the position of the moving body 100 at the same time as creating the environmental map by a method such as a so-called SLAM using a camera image captured by the camera 180 or a sensor such as Lidar.

[0045] The information processing unit 204 manages information acquired from the terminal device 2, the management device 10, or the information providing device 30, for example.

[0046] The recognition unit 206 recognizes the position (distance from the moving body 100 and direction relative to the moving body 100) of an object in the vicinity of the moving body 100, and the state of the object such as speed and acceleration, based on, for example, an image captured by the camera 180. The object includes traffic participants and obstacles present in a facility or on a road. The recognition unit 206 recognizes and tracks the user of the moving body 100. For example, the recognition unit 206 tracks the user based on an image (e.g., a face image of the user) captured by the user who is registered when the user uses the moving body 100, or a face image of the user (or a feature amount obtained from the face image of the user) provided by the terminal device 2 or the management device 10. The recognition unit 206 recognizes a gesture made by the user. Note that the moving body 100 may be provided with a detection unit different from a camera, such as a radar device or LIDAR. In this case, the recognition unit 206 recognizes the situation around the moving body M using the detection result of the radar device or LIDAR instead of (or in addition to) the image.

[0047] When a target pedestrian enters a set area into which the moving body 100 should not enter, the stop position processing unit 208 determines a stop position that is different from the set area and corresponds to the type of the set area. Details of this process will be described later.

[0048] The route generation unit 212 generates a route to a destination specified by the user. The destination may be the location of a product or a facility. In this case, the user specifies the product or facility, and the mobile body 100 sets the location of the specified product or facility as the destination. The route is a route that can reach the destination reasonably. For example, the distance to the destination, the time required to reach the destination, the ease of travel of the route, etc. are scored, and a route is derived in which each score and the combined score of the scores are equal to or greater than a threshold value.

[0049] The trajectory generating unit 214 generates a trajectory along which the moving body 100 should travel in the future based on, for example, a gesture of the user, a destination set by the user, surrounding objects, the position of the user, and the like. The trajectory generating unit 214 generates a trajectory that allows the moving body 100 to move smoothly to a target point. The trajectory generating unit 214 generates a trajectory according to the behavior of the moving body 100 based on, for example, a correspondence between a gesture and a behavior determined in advance, or generates a trajectory for moving toward a destination while avoiding surrounding objects. The trajectory generating unit 214 generates, for example, a trajectory for following a tracked user or a trajectory for leading a user. The trajectory generating unit 214 generates, for example, a trajectory according to a behavior based on a preset mode. The trajectory generation unit 214 generates a plurality of trajectories according to the behavior of the moving body 100, calculates the risk for each trajectory, and when the total value of the calculated risks and the risk of each trajectory point meet a preset criterion (for example, when the total value is equal to or less than a threshold value Th1 and the risk of each trajectory point is equal to or less than a threshold value Th2), adopts the trajectory that satisfies the criterion as the trajectory along which the moving body 100 will move. For example, the risk tends to be higher the closer the distance between the trajectory (trajectory point of the trajectory) and an obstacle, and to be lower the closer the distance between the trajectory and an obstacle.

[0050] The control unit 216 controls the motors (the first motor 122 and the second motor 132), the brake device 136, and the steering device 138 so that the moving body 100 travels along a trajectory that satisfies a preset criterion. The control unit 216 stops following the target pedestrian and moves the moving body 100 to the determined stopping position.

[0051] [Control according to the type of setting area] When a pedestrian enters a set area where the moving body 100 should not enter, the control device 200 identifies the type of the set area, determines a stop position according to the identified type of the set area, stops following the pedestrian, and moves the moving body to the identified stop position. The stop position according to the type of the set area is a position near the set area that is estimated not to prevent other pedestrians from entering the set area. The stop position is, for example, near the entrance / exit of the set area, a position different from the entrance / exit, or a position a predetermined distance away from the set area. The stop position may also be a predetermined range determined by the size of the set area, the size of the moving body, etc.

[0052] The stop position processing unit 208 recognizes the type of the set area based on the type of object recognized by the recognition unit 206. For example, the stop position processing unit 208 recognizes a checkout counter, a shopping cart, a shopping basket, a counter at a facility such as a hospital, a toilet, and the like as types of objects. The stop position processing unit 208 recognizes the type of the set area according to the type of the recognized object, and specifies a stop position according to the type of the set area by referring to the stop position information 228. The object indicating that it is a set area may be an object different from the above-mentioned objects. In this case, the stop position information 228 specifies the type of the different object and the stop position.

[0053] The stop position processing unit 208 may specify the type of the set area based on the position of the moving object 100 and the map information 224 instead of the result of the recognition by the recognition unit 206. For example, the map information 224 stores information in which the position of the set area is associated with the type of the set area. Furthermore, the stop position processing unit 208 may specify the type of the set area using the result of the recognition by the recognition unit 206 and the position information. For example, when the results of the above two processes match, the stop position processing unit 208 may specify the type of the set area, and when they do not match, the stop position processing unit 208 may specify the type of the set area using the result of a process with a high priority set in advance.

[0054] [Scene 1] When the recognition unit 206 recognizes a checkout counter, a shopping cart, or a shopping basket and recognizes that the set area is a checkout counter, the control device 200 determines a stopping position at a position on the exit side of the facility where the checkout counter is installed, and moves the mobile body to the stopping position.

[0055] FIG. 7 is a diagram (1) for explaining scene 1. The moving body 100 captures an image horizontally relative to the ground, but in the example of FIG. 7, for the sake of explanation, a diagram is shown looking at the ground from above. The same is true for the subsequent figures. The moving body 100 is following the user TA. The user TA approaches the checkout counter. When the control device 200 recognizes the checkout counter, it sets a set area according to the checkout counter. As shown in FIG. 7, a pre-set area including the checkout counter is set as the set area AR1.

[0056] FIG. 8 is a diagram (2) for explaining scene 1. When the user TA enters the set area AR1 from the position in FIG. 7, the control device 200 does not allow the moving body 100 to enter the set area AR1, but temporarily suspends the moving body 100 from following the user TA, and overtakes the user TA. The control device 200 moves the moving body 100 to a stop position closer to the exit of the facility than the user TA, and stops the moving body 100 at the stop position. The stop position may be a position on the exit side of the cash register counter instead of a position closer to the exit of the facility. After that, when the user TA leaves the set area AR1 and approaches the exit, the control device 200 causes the moving body 100 to follow the user TA. For example, after the control device 200 stops the moving body 100 at a stop position in response to the user TA's entry into the set area AR1, when the user TA leaves the set area AR1, the control device 200 resumes the moving body 100 following the user TA. In this case, for example, the moving object 100 resumes tracking without entering the set area AR1, thereby reducing the possibility of interference with other users.

[0057] As described above, the control device 200 can make the user TA wait at an appropriate stop position according to the behavior of the user TA. This prevents the moving body 100 from interfering with the movement of other traffic participants or the user TA, and allows the moving body 100 to smoothly follow the user after the user leaves the set area.

[0058] [Scene 2] When the user or the moving body 100 enters the set area, the control device 200 may determine the stop position according to the time from when the user or the moving body 100 enters the facility in the set area to when the user enters the set area. For example, when the first time has elapsed since the user or the moving body 100 entered the facility in the set area (immediately after the entry), the stop position may be determined to be the first stop position, and when the first time has elapsed since the user or the moving body 100 entered the facility in the set area (a while has passed since the entry), the stop position may be determined to be a second stop position different from the first stop position. When the entrance and the exit are the same, the first stop position is, for example, a position farther from the entrance and exit than the second stop position. When the entrance and the exit are different, the first stop position is, for example, a position farther from the entrance, a position farther from the exit, a position farther from the entrance and the exit, or a position inside the facility than the user. The second stop position is, for example, a position closer to the exit than the first stop position.

[0059] When the set area is a counter and a pedestrian enters the set area related to the counter, if a first predetermined time has elapsed since the user or the moving body 100 visited the facility where the counter is installed, the control device 200 determines a position farther from the entrance of the facility than the pedestrian as the stop position, and moves the moving body 100 to the stop position. When the set area is a counter and a second predetermined time or more has elapsed since the user or the moving body 100 visited the facility, the control device 200 determines a position closer to the exit of the facility than the pedestrian as the stop position, and moves the moving body 100 to the stop position.

[0060] [Scene 2-1] FIG. 9 is a diagram (1) for explaining scene 2-1. Scene 2-1 is a scene in which a user TA and a moving body 100 are visiting a facility such as a hospital. The moving body 100 is following the user TA. The user TA enters the facility and approaches a counter. The control device 200 recognizes the counter and sets a set area AR2 corresponding to the counter. As shown in FIG. 9, a pre-set area including the counter is set as the set area AR2.

[0061] In scene 2-1, since it is within the first predetermined time since the pedestrian visited the facility, the control device 200 determines a stop position at a position farther away from the entrance / exit E of the facility than the pedestrian, and moves the moving body 100 to the stop position. In the example of Fig. 9, the moving body 100 stops at the stop position. After that, when the pedestrian leaves the counter and starts moving, the control device 200 makes the moving body 100 follow the user TA.

[0062] As described above, the control device 200 can wait for the user TA at an appropriate stopping position according to the user's behavior. Furthermore, since the time when the user entered the facility is taken into consideration, the moving body 100 waits for the user at a stopping position according to the user's next behavior. This prevents the moving body 100 from interfering with other users or the movement of the user, and allows the moving body 100 to smoothly follow the user.

[0063] [Scene 2-2] FIG. 10 is a diagram (1) for explaining scene 2-2. The differences from scene 2-1 will be mainly described. The moving body 100 is following the user TA. After the user TA enters the facility, the user approaches the counter after a second predetermined time has elapsed. The second predetermined time is longer than the first predetermined time. The control device 200 recognizes the counter and sets a setting area AR2 corresponding to the counter.

[0064] In scene 2-2, since a second predetermined time or more has passed since the pedestrian visited the facility, the control device 200 determines a stop position at a position closer to the entrance / exit E of the facility than the pedestrian, and moves the moving body 100 to the stop position. In the example of Fig. 10, the moving body 100 stops at the stop position. After that, when the pedestrian leaves the counter and starts moving, the control device 200 makes the moving body 100 follow the user TA.

[0065] In the above example, the control device 200 determines the stop position based on time, but instead (or in addition), the stop position may be determined based on the user's moving direction. For example, the control device 200 may determine the stop position ahead of or behind the user based on the user's moving direction. For example, the stop position according to the type of set area is a stop position ahead of or behind the user based on the user's moving direction, and this stop position is a position that differs depending on the type of set area. For example, the stop position is a position ahead of or behind the user's moving direction, based on the type of set area. This provides the same effect as above.

[0066] [Scene 3] When the control device 200 recognizes that the set area is a toilet, it determines a predetermined area in front of the toilet as the stop position, and moves the moving body to the stop position. The predetermined area in front of the toilet is an area outside the toilet and within a predetermined range from the toilet entrance. FIG. 11 is a diagram for explaining scene 3. Scene 3 is a scene in which the user TA approaches the entrance of the toilet. The moving body 100 is following the user TA. The user TA approaches the set area of ​​the toilet. The control device 200 recognizes the entrance of the toilet from the display of the toilet, etc., and sets a set area AR3 according to the toilet. As shown in FIG. 11, a pre-set area including the toilet and the toilet entrance E is set as the set area AR3.

[0067] The user has entered the set area AR3. The control device 200 moves the mobile object 100 to a stop position, which is an area in front of the restroom entrance / exit E. In the example of FIG. 11, the mobile object 100 stops at the stop position. After that, when the user TA exits from the restroom entrance / exit E, the control device 200 recognizes the user TA and causes the mobile object 100 to follow the user TA.

[0068] As described above, the control device 200 can wait for the user TA at an appropriate stopping position according to the action of the user TA. This prevents the moving body 100 from interfering with other users or the movement of the user.

[0069] [flowchart] FIG. 12 is a flowchart showing an example of the flow of the process executed by the control device 200. First, the control device 200 judges whether or not the user has entered the set area (step S100). If the user has entered the set area, the control device 200 identifies the type of the set area (step S102). Next, the control device 200 identifies a stop position according to the type of the set area (step S104). In this process, if the set area is a predetermined counter, the stop position is determined taking into consideration the time from when the user visited the facility to when the user entered the set area (or the time up to the present). Furthermore, the stop position is appropriately adjusted based on the position of the object. For example, if an object is present at or near the stop position, the control device 200 determines a position a predetermined distance away from the object as the stop position. Next, the control device 200 moves the moving body 100 to the stop position and stops it (step S106).

[0070] Next, the control device 200 judges whether the user has left the set area (step S108). If the user has left the set area, the control device 200 causes the moving object 100 to resume following the user (step S110). This ends the processing of one routine of this flowchart.

[0071] According to the embodiment described above, when a target pedestrian enters a set area where the moving body 100 should not enter, the control system determines a stopping position that is different from the set area and corresponds to the type of the set area, and stops following the target pedestrian and moves the moving body 100 to the determined stopping position, thereby determining a stopping position that corresponds to the environment.

[0072] The above-described embodiment can be expressed as follows. a storage medium for storing computer-readable instructions; a processor coupled to the storage medium; The processor executes the computer-readable instructions to: Controlling a moving object that can move autonomously in an area where a pedestrian can move and that moves by following a target pedestrian; Recognizing objects around the pedestrian and the moving object; When the target pedestrian enters a set area into which the moving object should not enter, a stop position is determined according to a type of the set area and different from the set area; A moving body that stops following the target pedestrian and moves to the determined stopping position.

[0073] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0074] 1 Mobile Systems 2 Terminal Equipment 10 Management device 30 Information provision device 100 Mobile 200 Control device 204 Information Processing Section 206 Recognition part 208 Stop position processing unit 210 Setting section 216 Control Unit 220 Storage section 226 Setting area information 228 Stop position information

Claims

1. A control system for controlling a moving object that can move autonomously in an area in which a pedestrian can move and moves by following a target pedestrian, a recognition unit that recognizes the pedestrian and objects around the moving object; a specifying unit that, when the target pedestrian enters a set area into which the moving object should not enter, determines a stopping position according to a type of the set area and different from the set area; a control unit that stops tracking the target pedestrian and moves the moving object to the determined stop position; A control system comprising:

2. the identification unit recognizes the type of the set area based on the type of the object recognized by the recognition unit, or recognizes the type of the set area based on the position of the moving body and the type of the set area associated in map information; The control system of claim 1 .

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

4. When the recognition unit recognizes a target object indicating that the set area is a set area related to a checkout counter and recognizes that the set area is a set area related to a checkout counter, the identification unit determines the stop position to be a position on the exit side of the facility in which the checkout counter is installed or a position on the exit side of the checkout counter, The control unit moves the moving body to the stop position. A control system according to claim 1 or 2.

5. The target object is a checkout counter, a shopping cart, or a shopping cart; 5. The control system of claim 4.

6. when the target pedestrian or the moving object enters the set area, the identification unit determines the stop position according to a time from when the target pedestrian or the moving object enters a facility in the set area to when the target pedestrian enters the set area. A control system according to claim 1 or 2.

7. the identification unit determines, when the set area is a counter of a facility and the target pedestrian enters the set area related to the counter, a position farther from an entrance of the facility than the target pedestrian, if a first predetermined time has elapsed since the target pedestrian or the moving object visited the facility in which the counter is installed; A control system according to claim 1 or 2.

8. the identification unit determines, when the set area is a counter of a facility and the target pedestrian enters the set area related to the counter, a position closer to an exit of the facility than the target pedestrian, if a second predetermined time or more has elapsed since the target pedestrian or the moving object visited the facility; A control system according to claim 1 or 2.

9. the identification unit, when the target pedestrian enters a set area into which the moving body should not enter, determines a stopping position according to a type of the set area, which is different from the set area, and which is located in front of or behind the target pedestrian based on a moving direction of the target pedestrian. A control system according to claim 1 or 2.

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

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

12. The control unit is stopping the moving body at the stop position in response to the target pedestrian entering the set area, and then, when the target pedestrian exits the set area, restarting the moving body from following the target pedestrian. A control system according to claim 1 or 2.

13. When the target pedestrian exits a set area after stopping the moving body at a stop position, the control unit causes the moving body to resume following the target pedestrian while preventing the moving body from entering the set area.

13. The control system of claim 12.

14. A computer of a control system for controlling a moving object that can move autonomously in an area where a pedestrian can move and moves following a target pedestrian, Recognizing objects around the pedestrian and the moving object; When the target pedestrian enters a set area into which the moving object should not enter, a stop position is determined according to a type of the set area and different from the set area; interrupting tracking of the target pedestrian and moving the moving body to the determined stopping position; Control methods.

15. A computer of a control system for controlling a moving object that can move autonomously in an area where a pedestrian can move and moves following a target pedestrian, A process of recognizing objects around the pedestrian and the moving object; A process of determining a stop position according to a type of the set area and different from the set area when the target pedestrian enters a set area into which the moving object should not enter; A process of stopping tracking of the target pedestrian and moving the moving body to the determined stop position; A program that executes the following.

16. A moving body that can move autonomously in an area in which a pedestrian can move and moves by following a target pedestrian, Recognizing objects around the pedestrian and the moving object; When the target pedestrian enters a set area into which the moving object should not enter, a stop position is determined according to a type of the set area and different from the set area; interrupting tracking of the target pedestrian and moving to the determined stopping position; Mobile body.

Images