Autonomous mobile body control system and autonomous mobile body control method

Abstract

To estimate the position of an autonomous mobile body with a simple configuration.SOLUTION: An autonomous mobile body control system comprises: an encoding unit that is installed, in an acoustic controller 300, at a predetermined position within an environmental range where an autonomous mobile body 100 operates, and embeds speaker information (labels) related to corresponding speakers in acoustic signals corresponding to speakers (SP) 200 (200-1 to 200-n) that output input acoustic signals as sounds; an acoustic control unit that inputs the acoustic signals having the speaker information (labels) embedded by the encoding unit to the corresponding speakers; an ambient environmental sound acquisition unit that acquires an ambient environmental sound in the autonomous mobile body 100; an information acquisition unit that acquires, in the autonomous mobile body 100, the speaker information of the speaker provided at the closest distance from the autonomous mobile body 100 from the acquired ambient environmental sound; and a position estimation unit that estimates the position of the autonomous mobile body 100 on the basis of the position of the corresponding speaker specified on the basis of the speaker information acquired by the information acquisition unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an autonomous mobile object control system and an autonomous mobile object control method. [Background technology]

[0002] There is known a technique for estimating the self-position of an autonomous mobile device using a SLAM (Simultaneous Localization and Mapping) algorithm (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-182385 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, when the cost of equipment is taken into consideration, it is preferable to be able to estimate the position of an autonomous moving body that moves autonomously with a simple configuration.

[0005] An object of the present invention is to enable the position of an autonomous moving body to be estimated with a simple configuration. [Means for solving the problem]

[0006] One aspect of the present invention that solves the above-mentioned problems is an autonomous mobile body control system that includes, in an acoustic control device, an encoding unit that is installed at a predetermined position within an environmental range in which an autonomously movable autonomous mobile body operates and that embeds speaker information related to a corresponding speaker in an acoustic signal corresponding to each speaker that outputs an input acoustic signal as sound; an acoustic control unit in the acoustic control device that inputs each of the acoustic signals in which the speaker information is embedded by the encoding unit to the corresponding speaker; an ambient environmental sound acquisition unit in the autonomous mobile body that acquires ambient environmental sound; an information acquisition unit in the autonomous mobile body that acquires speaker information of a speaker that is located closest to the autonomous mobile body from the ambient environmental sound acquired by the ambient environmental sound acquisition unit; and a position estimation unit in the autonomous mobile body that estimates the position of the autonomous mobile body based on the position of the corresponding speaker identified based on the speaker information acquired by the information acquisition unit.

[0007] The autonomous mobile body control method includes: an encoding step in an acoustic control device in which an encoding unit is installed at a predetermined position within an environmental range in which an autonomous mobile body capable of moving autonomously operates, and embeds speaker information related to a corresponding speaker in an acoustic signal corresponding to each speaker that outputs an input acoustic signal as sound; an acoustic control step in the acoustic control device in which an acoustic control unit inputs each of the acoustic signals in which the speaker information is embedded by the encoding step to the corresponding speaker; an ambient environmental sound acquisition step in the autonomous mobile body in which an ambient environmental sound acquisition unit acquires ambient environmental sound; an information acquisition step in the autonomous mobile body in which an information acquisition unit acquires speaker information of a speaker that is located closest to the autonomous mobile body from the ambient environmental sound acquired in the ambient environmental sound acquisition step; and a position estimation step in the autonomous mobile body in which a position estimation unit estimates the position of the autonomous mobile body based on the position of the corresponding speaker identified based on the speaker information acquired in the information acquisition step. [Effects of the Invention]

[0008] According to the present invention, it is possible to obtain an effect that the position of an autonomous moving body can be estimated with a simple configuration. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an example of the overall configuration of an autonomous mobile object control system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram illustrating an example of the functional configuration of an autonomous moving body according to the present embodiment. [Figure 3] 1 is a diagram illustrating an example of a functional configuration of an acoustic control device according to an embodiment of the present invention. [Figure 4] 4 is a diagram showing an example of speaker management information in the present embodiment. FIG. [Figure 5] 3 is a diagram illustrating an example of a processing procedure executed by the acoustic control device according to the present embodiment. [Figure 6] FIG. 10 is a diagram illustrating an example of a processing procedure executed by an autonomous moving body in this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] 1 shows an example of the overall configuration of an autonomous mobile object control system according to this embodiment. The autonomous mobile object control system according to this embodiment controls the movement of one or more autonomous mobile objects 100 in a building 1.

[0011] A plurality (n pieces) of speakers (SP) 200 (200-1 to 200-n) are arranged at different predetermined positions in the building 1. The speakers 200 amplify the acoustic signals input from the acoustic control device 300 and emit (output) them into the space as sound. In this embodiment, speaker 200 may be an emergency speaker that is installed as emergency alarm equipment in accordance with a predetermined law such as the Fire Service Act and is used to output an alarm sound in an emergency such as a fire. Such emergency speakers are installed in building 1 when building 1 is completed, and the locations of speakers 200 are known, for example, from facility drawings of building 1.

[0012] As an acoustic control function, the acoustic control device 300 controls the speakers 200 in the building 1 to output sound. In this case, the acoustic control device 300 supplies an acoustic signal corresponding to the sound to be output to each of the speakers 200. The path from the acoustic control device 300 to the speakers 200 for supplying the acoustic signal may be wired or wireless. In the figure, the acoustic control device 300 is provided inside the building 1, but it may also be provided outside the building 1.

[0013] The sound control device 300 also acquires a sound signal supplied from the sound signal output terminal 400. The sound signal supplied from the sound signal output terminal 400 to the sound control device 300 may be, for example, an alarm sound to be output in response to an emergency such as a fire, or a voice instructing people in the building 1 to evacuate. The sound signal supplied to the sound control device 300 may be various kinds of guidance for people in the building 1, background music (BGM), etc., during normal times. The sound signal supplied from the sound signal output terminal 400 in this way is in the audible band that can be heard by humans. The sound of the sound signal supplied from the sound signal output terminal 400 in this way is also referred to as a notification sound, as it can be considered to notify people in the building 1 of some kind of information. The sound signal corresponding to the notification sound is also referred to as a notification-compatible sound signal.

[0014] The acoustic control device 300 supplies the acoustic signal acquired from the acoustic signal output terminal 400 to the speaker 200, thereby causing the speaker 200 to output a notification sound. At this time, the acoustic control device 300 may cause the speaker 200 to output the notification sound in real time in response to the acoustic signal being supplied from the acoustic signal output terminal 400, or may temporarily store the acoustic signal supplied from the acoustic signal output terminal 400 and cause the speaker 200 to output the stored acoustic signal as the notification sound at a time according to a established schedule.

[0015] In this embodiment, the acoustic control device 300 is capable of supplying individual acoustic signals to each of the multiple speakers 200-1 to 200-n. The acoustic control device 300 may make multiple copies of one acoustic signal acquired from the acoustic signal output terminal 400, corresponding to each of the multiple speakers 200-1 to 200-n. The acoustic control device 300 performs encoding processing so as to embed a label (speaker identifier (an example of speaker information)) that uniquely identifies the corresponding speaker 200 into each of the acoustic signals generated by copying. As an encoding process, the audio control device 300 may embed an audio watermark based on information of a character string indicated by a label, for example, into an audio signal corresponding to the speaker 200 indicated by the label.

[0016] The acoustic control device 300 may acquire the label for each speaker 200 placed in the building 1 from the building equipment database 500. The building equipment database 500 is a database that stores information (building equipment information) related to equipment placed in the building 1. The building equipment information stored in the building equipment database 500 may include information indicating the placement position of each speaker 200 in the building 1, in which the placement position of the corresponding speaker 200 is associated with each label.

[0017] The audio control device 300 supplies each of the audio signals, in which the label is embedded as an audio watermark as described above, to the corresponding speakers 200-1 to 200-n at the same time. By supplying the audio signals in this way, the speakers 200-1 to 200-n are caused to simultaneously output notification sounds with the same notification content. In this case, visitors in the building 1 hear sounds with the same notification content output at the same time from all the speakers 200. However, the audio watermarks embedded in the notification sounds output from each speaker 200 are different for each speaker 200 that is the output source. Visitors in the building 1 who hear the notification sounds cannot recognize the audio watermarks.

[0018] When the autonomous moving body 100 moves autonomously, it uses a technology called SLAM (Simultaneous Localization and Mapping) to estimate its own position using a range sensor and an inertial measurement unit (IMU) and creates a driving map (a map for self-position estimation) that shows the shape of the surrounding environment.

[0019] Based on the self-location estimation map that has been created, the autonomous mobile body 100 estimates its own position and direction on the self-location estimation map (self-location estimation) by using an algorithm such as AMCL (Adaptive Monte Carlo localization).The autonomous mobile body 100 can plan a route to a destination based on the estimated self-location and move autonomously toward the destination.

[0020] For example, in a self-localization method such as AMCL, the most probable current location is sequentially updated, and therefore, it is required that the initial location of the autonomous moving body 100 be set with a certain level of accuracy or higher on the self-localization map. For example, when the autonomous mobile body 100 is charged using a charging dock, the position of the charging dock is used as the initial position of the autonomous mobile body 100. However, if a charging dock is not provided and, for example, the autonomous mobile body 100 undergoes battery replacement, the movement start position is not determined. In such cases, the self-position can be estimated using radio waves such as wireless LAN (Wi-Fi) or beacons, but this requires the installation of a new wireless LAN router or equipment for transmitting and receiving beacons. Furthermore, while RTK-GNSS using artificial satellites can be used as a method for estimating the self-position outdoors, it cannot be used in indoor environments.

[0021] Therefore, in this embodiment, the sound output from the speaker 200 with the audio watermark embedded therein as described above is used by the autonomous moving body 100 operating within the building 1 to set its own initial position. When setting its initial position within the building 1, the autonomous moving body 100 analyzes the acoustic signals obtained by collecting ambient environmental sounds, and identifies the speaker sound (speaker sound) from the speakers 200 contained in the acoustic signals that has the shortest distance (arrival distance) from the autonomous moving body 100. The autonomous moving body 100 extracts the identified speaker sound from the surrounding environmental sound, and decodes the label embedded in the extracted speaker sound. The autonomous moving body 100 accesses the building equipment database 500. The building equipment database 500 is a database that stores information (building equipment information) related to equipment installed in the building 1. The building equipment information stored in the building equipment database 500 includes information indicating the installation position of each speaker 200 in the building 1, in which the installation position of the corresponding speaker 200 is associated with each label. The autonomous moving body 100 refers to the building equipment database 500 and acquires the placement position of the speaker 200 that has been labeled with the same label as that decoded from the speaker sound. The autonomous moving body 100 estimates its current position based on the acquired placement position, and sets the estimated position as its initial position. By being able to set its own initial position in this way, in this embodiment, it is possible to efficiently estimate its own position with a simple configuration and simple processing, without, for example, setting up a wireless LAN or beacon, or using RTK-GNSS using artificial satellites.

[0022] Furthermore, there may be times when the notification sound is not output from the speaker 200, for example, due to a schedule for outputting the notification sound determined for the building 1. When the notification sound is not output in this way, the acoustic control device 300 may generate an acoustic signal outside the audible band for each speaker 200. The acoustic control device 300 may embed a label of the corresponding speaker 200 in the generated acoustic signal outside the audible band. The acoustic control device 300 may input each of the acoustic signals with the embedded label to the corresponding speaker 200. In this case, each of the speakers 200 outputs a sound outside the audible band with a corresponding label embedded therein. The autonomous moving body 100 can set its own initial position by analyzing the ambient sound including the components outside the audible band. In this way, when a notification sound is not output from the speaker 200, an acoustic signal outside the audible band with an embedded label is output from the speaker 200, so that a sound with an embedded corresponding label can be constantly output from each speaker 200 in the building 1. Therefore, the autonomous moving body 100 operating in the building 1 can set its own initial position whenever necessary.

[0023] An example of the functional configuration of the autonomous moving body 100 of this embodiment will be described with reference to FIG. The autonomous moving body 100 in the figure includes a communication unit 101, an ambient environment sensor 102, a moving mechanism unit 103, a user interface unit 104, a control unit 105, a memory unit 106, and a microphone 107.

[0024] The communication unit 101 communicates with the acoustic control device 300 .

[0025] The ambient environment sensor 102 is a sensor that detects the ambient environment (surrounding shape). In this embodiment, LiDAR (Light Detection and Ranging) may be used as a technology for grasping the surrounding shape for autonomous driving. In this case, the ambient environment sensor 102 includes a laser light emitting unit and a light receiving unit that receives the reflected laser light. The ambient environment sensor 102 measures the distance based on the time it takes for the reflected light obtained by irradiating the surroundings with pulsed laser light to be received by the light receiving unit. In other words, the ambient environment sensor 102 can recognize the distance to surrounding objects. The ambient environment sensor 102 is configured to generate ambient environment data indicating the shape of the surrounding environment based on the measured distance, and to estimate its own position using the generated ambient environment data.

[0026] The movement mechanism 103 is a drive mechanism that enables movement of the autonomous moving body 100. The movement mechanism 103 may be configured to enable the autonomous moving body 100 to move forward and backward, as well as to change direction to the left and right.

[0027] The user interface unit 104 includes an input device that allows a user to input information by operating it. The user interface unit 104 may also include a speaker that can emit sounds or voices. The user interface unit 104 may also include a lighting unit, a display unit, etc. that can display light or images.

[0028] The control unit 105 executes various controls on the autonomous moving body 100. For example, the control unit 105 may control the movement mechanism unit 103 to perform an operation in accordance with an input from a user to an input device. Furthermore, the control unit 105 may perform voice recognition on the voice collected by the microphone 107 and control the autonomous moving body 100 to perform an operation in response to the recognition result. Furthermore, the control unit 105 may output sound from a speaker of the user interface unit 104 or display information on a display unit of the user interface unit 104 as an output in response to an input from the user to an input device. The function of the control unit 105 may be realized by a central processing unit (CPU) provided as hardware in the autonomous moving body 100 executing a program.

[0029] The control unit 105 of this embodiment includes an information acquisition unit 151 and a position estimation unit 152 . The information acquisition unit 151 acquires, from the ambient environmental sound collected (acquired) by the microphone 107 (an example of an ambient environmental sound acquisition unit), a label embedded in the speaker sound output from the speaker 200 provided closest to the autonomous moving body 100. The microphone 107 may be configured to quantize the ambient environmental sound detected as air vibrations into a digital acoustic signal and output the quantized signal.

[0030] The position estimation unit 152 estimates the current position of the autonomous moving body 100 by using the label acquired by the information acquisition unit 151. Specifically, the position estimation unit 152 acquires, from the building equipment database 500, the placement position of the speaker 200 associated with the same label acquired by the information acquisition unit 151. The position estimation unit 152 estimates the position of the autonomous moving body 100 based on the acquired placement position of the speaker 200. The position estimation unit 152 sets the estimated position as the initial position.

[0031] The storage unit 106 stores various types of information corresponding to the autonomous moving body 100. The storage unit 106 includes a self-position estimation map storage unit 161. The self-position estimation map storage unit 161 stores a self-position estimation map generated based on, for example, a SLAM algorithm.

[0032] The microphone 107 picks up ambient environmental sounds. The microphone may also pick up human voices used for voice operations, for example, and supply the voices to the user interface unit 104.

[0033] 3 shows an example of the functional configuration of the acoustic control device 300. The acoustic control device 300 in the figure includes a communication unit 301, a control unit 302, and a storage unit 303. The communication unit 301 is communicably connected to the speaker 200, the acoustic signal output terminal 400, the building equipment database, and the like.

[0034] The control unit 302 executes control in the acoustic control device 300. The functions of the control unit 302 may be realized by a CPU provided as hardware in the acoustic control device 300 executing a program.

[0035] The control unit 302 includes an encoding unit 321 and an audio control unit 322 . The encoding unit 321 performs encoding processing on the audio signals (announcement sounds, audio signals outside the audible band) to be output to each of the speakers 200 so as to embed the label data of the corresponding speaker as an audio watermark. The audio control unit 322 transmits audio signals to the speakers 200, thereby controlling the speakers 200 so that sound is output from each of the speakers 200.

[0036] The storage unit 303 stores various types of information corresponding to the acoustic control device 300 .

[0037] 4 shows an example of data storage related to the speaker 200 in the building equipment database 500. As shown in the figure, the building equipment database 500 may have a structure in which a label for each speaker 200 is associated with installation location information indicating the installation location in the building 1 and an address. In the figure, the location information indicates the floor and the position of the floor in the horizontal direction, in case that the building 1 has a multi-story structure. The position of the floor in the horizontal direction may be indicated by two-dimensional coordinates using x and y coordinates. The address is a network address set for each speaker 200 when the speaker 200 is connected to the acoustic control device 300 via a network. When transmitting an acoustic signal to each speaker 200, the acoustic control device 300 specifies an address shown in the building equipment database 500 as the transmission destination.

[0038] 5, an example of a processing procedure executed by the acoustic control device 300 of this embodiment in relation to the output of sound from the speaker 200 will be described. The example of the processing procedure in the figure corresponds to a case where control is performed so that a notification sound is output from the speaker 200 in real time in response to an acoustic signal of the notification sound being output (transmitted) from the acoustic control unit 322.

[0039] Step S100: In the acoustic control device 300, the acoustic control unit 322 (or the encoding unit 321) determines whether or not the acoustic signal of the notification sound being output (transmitted) from the acoustic signal output terminal 400 is being received.

[0040] Step S102: If it is determined in step S100 that the audio signal of the notification sound is being received, the encoding unit 321 copies the received audio signal of the notification sound into multiple copies corresponding to each speaker 200. The encoding unit 321 embeds the label of the corresponding speaker 200 as an audio watermark in each of the audio signals of the notification sound corresponding to each speaker 200 obtained by copying. The encoding unit 321 may acquire, from the building equipment database 500, the label of each speaker 200 to be embedded in the audio signal of the notification sound.

[0041] Step S104: On the other hand, if it is determined in step S100 that the acoustic signal of the notification sound has not been received, the acoustic control unit 322 generates an acoustic signal outside the audible band corresponding to each speaker 200. The encoding unit 321 embeds the label of the corresponding speaker 200 as an acoustic watermark in each of the generated acoustic signals outside the audible band.

[0042] Step S106: The acoustic control unit 322 transmits, to the corresponding speaker 200, the acoustic signals for each speaker 200 into which a label was embedded in step S102 or step S104. At this time, the acoustic control unit 322 may transmit the acoustic signals into which the label of the speaker 200 is embedded, to the address of the speaker 200 acquired from the building equipment database 500.

[0043] Next, an example of a processing procedure executed by the autonomous moving body 100 when setting the initial position will be described with reference to the flowchart of FIG. Step S200: The position estimation unit 152 waits until the initial position setting timing arrives in the autonomous moving body 100. For example, the initial position setting timing is the timing when the autonomous moving body 100 starts to move autonomously from now on.

[0044] Step S202: When the timing for setting the initial position arrives, the information acquisition unit 151 acquires the ambient environmental sound collected by the microphone 107.

[0045] Step S204: The position estimation unit 152 analyzes the ambient environmental sound acquired in step S202 to extract, from the ambient environmental sound, the speaker sound that is closest to the current position of the autonomous moving body 100. The position estimation unit 152 decodes the label embedded in the extracted speaker sound. The position estimation unit 152 acquires the label obtained by this decoding as the label of the speaker 200 that is located closest to the current position of the autonomous moving body 100.

[0046] Step S206: The position estimation unit 152 accesses the building equipment database and acquires the placement position information of the speaker 200 associated with the label acquired in step S204. By acquiring the placement position information in this manner, the position estimation unit 152 has identified the position of the speaker 200.

[0047] Step S208: The position estimation unit 152 estimates the position of itself (the autonomous moving body 100) based on the arrangement position information acquired in step S206, and sets the estimated position as the initial position. When setting the initial position, the position estimation unit 152 may set the placement position information acquired in step S206 as the initial position as is. Alternatively, the position estimation unit 152 may correct the position indicated by the placement position information acquired in step S206 by using, for example, the arrival direction and autonomous arrival distance estimated for the speaker sound extracted in the processing of step S204, and set the corrected position as the initial position.

[0048] The encoding unit 321 of the acoustic control device 300 may embed, in the acoustic signal, instead of the label, placement position information of the corresponding speaker 200. In this case, the position estimation unit 152 of the autonomous moving body 100 may decode placement position information from the speaker sound of the speaker 200 in the closest position extracted from the ambient environmental sound, and set the initial position of the autonomous moving body 100 based on the decoded placement position information.

[0049] In addition, the process of estimating the autonomous moving body 100's own position based on the labels acquired from the surrounding environmental sounds may also be performed when it becomes necessary to reset the autonomous moving body 100's own position within the building 1, for example, while the autonomous moving body 100 is moving or stopped.

[0050] In this embodiment, the speaker 200 does not have to be for emergency use. For example, it may be a speaker placed in the building 1 for various announcements.

[0051] The environmental range in which the configuration in which the autonomous moving body 100 sets its own position based on the label acquired from the surrounding environmental sound is applicable may be an indoor environment such as the building 1, or an outdoor environment.

[0052] The functions of the acoustic control device 300 illustrated in FIG. 3 may be distributed among a plurality of information processing devices, and the plurality of information processing devices may communicate with each other to execute processing.

[0053] Note that a program for implementing the functions of the autonomous mobile body 100, the acoustic control device 300, etc. described above may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be loaded into a computer system and executed to perform the processing of the autonomous mobile body 100, the acoustic control device 300, etc. described above. Here, "loading a program recorded on a recording medium into a computer system and executing it" includes installing the program on a computer system. The term "computer system" here includes hardware such as an OS and peripheral devices. The term "computer system" may also include multiple computer devices connected via a network, including communication lines such as the Internet, WAN, LAN, and dedicated lines. The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as HDDs and SSDs built into a computer system. Thus, the recording medium storing the program may be a non-transitory recording medium such as a CD-ROM. The recording medium may also include internal or external recording media accessible from a distribution server to distribute the program. The program code stored on the distribution server's recording medium may be different from the program code in a format executable by a terminal device. In other words, the format in which the program is stored on the distribution server does not matter as long as it can be downloaded from the distribution server and installed in a form that is executable on the terminal device. The program may be divided into multiple parts, each of which may be downloaded at different times and then combined on the terminal device, or each of the divided programs may be distributed by a different distribution server. Furthermore, the term "computer-readable recording medium" also includes a storage medium that stores a program for a certain period of time, such as volatile memory (RAM) within a computer system that serves as a server or client when a program is transmitted over a network. The program may also be one that realizes part of the functions described above.Furthermore, the above-mentioned functions may be realized in combination with a program already recorded in the computer system, that is, a so-called differential file (differential program).

[0054] The Sustainable Development Goals (SDGs) are 17 international goals adopted at the United Nations Summit in September 2015. The autonomous mobile control system according to this embodiment can contribute to achieving one of the 17 SDGs, for example, goal 9, "Build resilient infrastructure, promote inclusive and sustainable industrialization, and foster innovation." [Explanation of symbols]

[0055] 1 Building, 100 Autonomous mobile body, 101 Communication unit, 102 Surrounding environment sensor, 103 Moving mechanism unit, 104 User interface unit, 105 Control unit, 106 Memory unit, 107 Microphone, 151 Information acquisition unit, 152 Position estimation unit, 161 Self-position estimation map memory unit, 300 Acoustic control device, 301 Communication unit, 302 Control unit, 303 Memory unit, 321 Encoding unit, 322 Acoustic control unit, 400 Acoustic signal output terminal, 500 Building equipment database

Claims

1. In the acoustic control device, an encoding unit is installed at a predetermined position within an environment range in which an autonomously movable body that can move autonomously operates, and embeds speaker information related to the corresponding speaker in an acoustic signal corresponding to each speaker that outputs an input acoustic signal as sound; an audio control unit that inputs each of the audio signals in which the speaker information is embedded by the encoding unit to a corresponding speaker; an ambient environmental sound acquisition unit that acquires ambient environmental sound in the autonomous moving body; an information acquisition unit configured to acquire, in the autonomous moving body, speaker information of a speaker provided closest to the autonomous moving body from the ambient environmental sound acquired by the ambient environmental sound acquisition unit; a position estimation unit configured to estimate a position of the autonomous moving body based on a position of a corresponding speaker identified based on the speaker information acquired by the information acquisition unit; An autonomous mobile control system comprising:

2. the speaker information includes a speaker identifier that uniquely identifies a corresponding speaker; The position estimation unit refers to installation position information indicating the installation position of the corresponding speaker for each speaker identifier, and identifies the position of the speaker indicated by the speaker identifier included in the speaker information acquired by the information acquisition unit. The autonomous mobile control system according to claim 1 .

3. When a notification-compatible audio signal is input to the audio control device as the audio signal, the encoding unit embeds speaker information in the input notification-compatible audio signal, and when a notification-compatible audio signal is not input to the audio control device as the audio signal, the encoding unit embeds speaker information in an audio signal outside the audible band.

3. The autonomous mobile control system according to claim 1 or 2.

4. The speaker is to be installed in a building and is for emergency use, outputting sound in response to an emergency.

3. The autonomous mobile control system according to claim 1 or 2.

5. In the acoustic control device, an encoding unit is installed at a predetermined position within an environmental range in which an autonomously movable body that can move autonomously operates, and an encoding step of embedding speaker information related to the corresponding speaker into an acoustic signal corresponding to each speaker that outputs an input acoustic signal as sound; an acoustic control step in which an acoustic control unit in the acoustic control device inputs each of the acoustic signals in which the speaker information is embedded by the encoding step to a corresponding speaker; an ambient environmental sound acquisition step in which an ambient environmental sound acquisition unit acquires ambient environmental sound in the autonomous moving body; an information acquisition step in which, in the autonomous moving body, an information acquisition unit acquires speaker information of a speaker that is provided closest to the autonomous moving body from the ambient environmental sound acquired in the ambient environmental sound acquisition step; a position estimation step in which, in the autonomous moving body, a position estimation unit estimates a position of the autonomous moving body based on a position of a corresponding speaker identified based on the speaker information acquired in the information acquisition step; An autonomous mobile object control method comprising:

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