Control system, control method, program, and mobile 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 body.

Background Art

[0002] Conventionally, robots that guide a user to a desired location or transport luggage are known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above system, the stopping position of the moving body has not been sufficiently considered.

[0005] The present invention has been made in consideration of such circumstances, and one of its objects 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 Problems

[0006] The control system, control method, program, and moving body according to this invention employ the following configuration. (1): A control system according to an aspect of the present invention is a control system that autonomously moves in an area where a pedestrian can move and controls a moving body that moves following a target pedestrian, the control system including a recognition unit that recognizes the pedestrian and objects around the moving body, and a specifying unit that, when the target pedestrian enters a set area where the moving body should not enter, determines a stop position corresponding to the type of the set area and different from the set area, and a control unit that interrupts following the target pedestrian and moves the moving body to the determined stop position.

[0007] (2): In the aspect of (1) above, the specifying 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.

[0008] (3): In the aspect of (1) or (2) above, the stop position corresponding to the type of the set area is a position near the set area where it is presumed that other pedestrians will not be hindered from entering the set area.

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

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

[0011] (6) In the aspect of the above (1) or (2), when the specific part determines that the target pedestrian or the moving body has entered the setting area, the stop position is determined according to the time from when the target pedestrian or the moving body entered the facility in the setting area to when the target pedestrian entered the setting area.

[0012] (7) In the aspect of the above (1) or (2), when the setting area is the counter of the facility and the target pedestrian enters the setting area related to the counter, if the target pedestrian or the moving body has visited the facility where the counter is installed within the first predetermined time when the target pedestrian enters the setting area related to the counter, a position farther from the facility entrance than the target pedestrian is determined as the stop position.

[0013] (8) In the aspect of the above (1) or (2), when the setting area is the counter of the facility and the target pedestrian enters the setting area related to the counter, if the target pedestrian or the moving body has passed the second predetermined time after visiting the facility when the target pedestrian enters the setting area related to the counter, a position closer to the facility exit than the target pedestrian is determined as the stop position.

[0014] (9) In the aspect of the above (1) or (2), when the target pedestrian enters a setting area where the moving body should not enter, the stop position is a position different from the setting area and corresponding to the type of the setting area, and the stop position is determined in front of the target pedestrian based on the moving direction of the target pedestrian.

[0015] (10) In the aspect of the above (1) or (2), when the specific part recognizes that the setting area is a toilet, a predetermined area in front of the toilet is determined as the stop position, and the control part moves the moving body to the stop position.

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

[0017] (12): In the aspect of the above (1) or (2), when the control unit stops 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, the control unit causes the moving body to follow the target pedestrian.

[0018] (13): In the aspect of the above (12), after the control unit stops the moving body at the stop position, when the target pedestrian exits the set area, the control unit restarts causing the moving body to follow the target pedestrian without allowing the moving body to enter the set area.

[0019] (14): A control method according to another aspect of the present invention is such that a computer of a control system that autonomously controls a movable area where a pedestrian can move and moves following a target pedestrian recognizes an object around the pedestrian and the moving body, and when the target pedestrian enters a set area where the moving body should not enter, determines a stop position different from the set area according to the type of the set area, and interrupts following the target pedestrian and moves the moving body to the determined stop position.

[0020] (15): A program according to another aspect of the present invention causes a computer of a control system that autonomously controls a movable area where a pedestrian can move and moves following a target pedestrian to execute a process of recognizing an object around the pedestrian and the moving body, a process of determining a stop position different from the set area according to the type of the set area when the target pedestrian enters a set area where the moving body should not enter, and a process of interrupting following the target pedestrian and moving the moving body to the determined stop position.

[0021] (16): A program according to another aspect of the present invention is a moving body that can autonomously move in an area where a pedestrian can move and move following the target pedestrian, recognizes objects around the pedestrian and the moving body, and when the target pedestrian enters a set area where the moving body should not enter, determines a stop position different from the set area according to the type of the set area, and is a moving body that interrupts following the target pedestrian and moves to the determined stop position.

Effect of the Invention

[0022] (1)-(16) According to the aspect, a stop position according to the environment can be determined.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0024] Hereinafter, with reference to the drawings, embodiments of the control system, control method, program, and moving body of the present invention will be described. The control system of the present invention controls a driving device of a moving body to move the moving body. The moving body in the present invention is one that autonomously moves while leading a leading target person and following the target person in an area where a pedestrian walks. The moving body can move in an area where a pedestrian can move even in an area where a vehicle (automobile, motorcycle, light vehicle) cannot move. The area where a pedestrian moves includes sidewalks, public open spaces, floors inside buildings, etc., and may include roadways. 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 target person is, for example, one of the pedestrians, but may also be a robot or an animal. The moving body, for example, while heading towards a given destination point, moves slightly ahead of a user who is an elderly person, so that other pedestrians who may obstruct the user's movement do not get too close to the user (that is, it operates to create a path for the user). The user is not limited to the elderly, but may also be a person who tends to have difficulty walking, a child, a person shopping in a supermarket, a patient moving in a hospital, a pet taking a walk, etc. Also, it is not always necessary for the user to determine the destination point in advance, and the moving direction of the user may be predicted and the moving body may autonomously move in front of the user according to the user's moving speed. Note that such an operation is not always performed, but may be performed temporarily. For example, when the moving body runs parallel to or chases after the user and detects a predetermined situation (for example, 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 via a network NW, for example. The network NW is an arbitrary 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, or 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 a computer device such as a smartphone or a tablet terminal, for example. The terminal device 2 requests, for example, the management device 10 to provide the right to use the mobile body 100 based on the user's operation, or acquires information indicating that the use has been permitted.

[0027] [Management device] The management device 10 grants the right to use the mobile body 100 to the user of the terminal device 2 in response to the request of the terminal device 2, or manages the reservation for using the mobile body 100. The management device 10 generates and manages, for example, schedule information associating the identification information of the pre-registered user with the date and time of the reservation for using the mobile body 100.

[0028] [Information providing device] The information providing device 30 provides the mobile body 100 with the position where the mobile body 100 exists, the area where the mobile body 100 moves, and map information around the area. The information providing device 30 may generate a route to the destination of the mobile body 100 in response to the request of the mobile body 100 and provide the generated route to the mobile body 100.

[0029] [Mobile body] The mobile body 100 is used by the user in the following usage modes. FIG. 2 is a diagram for explaining an example of the usage mode of the mobile body 100. The mobile body 100 can autonomously move in an area where a pedestrian can move. The mobile body 100 can pass through, for example, an area where a vehicle cannot pass. The mobile body 100 is arranged, for example, at a predetermined position in a facility or a town. When the user wants to use the mobile body 100, the user can start using it by operating the operation unit (not shown) of the mobile body 100 or by operating the terminal device 2 to start using the mobile body 100. For example, when the user goes shopping and has a lot of luggage, the user starts using the mobile body 100 and puts the luggage in the storage unit of the mobile body 100. Then, the mobile body 100 moves with the user so as to autonomously follow the user. The user can continue shopping with the luggage stored in the mobile body 100 or head to the next destination. For example, the mobile body 100 moves while moving with the user across a crosswalk on a sidewalk or a roadway. The mobile body 100 can move in an area where pedestrians can pass, such as a roadway and a sidewalk. For example, the mobile body 100 may be used indoors or outdoors in a facility such as a shopping center, an airport, a park, a theme park, or on private land, and can move in an area where pedestrians can pass.

[0030] In addition to (or instead of) the following mode in which the mobile body 100 follows the user as described above, the mobile body 100 may be able to move autonomously in modes such as a guidance mode and an emergency mode.

[0031] FIG. 3 is a diagram for explaining the guidance mode. The guidance mode is a mode that guides the user to the destination specified by the user, and is a mode that autonomously moves in front of the user in accordance with the user's moving speed to lead the user. As shown in FIG. 3, in a shopping center, when the user is looking for a predetermined product, if the user requests the mobile body 100 to lead the user to the location of the predetermined product, the mobile body 100 leads the user to the location of the product. As a result, the user can easily find the predetermined product. When the mobile body 100 is used in a shopping center, the mobile body 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 facilities in the shopping center, etc. are associated with the map information, and the 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, when an abnormality occurs to the user (for example, when the user falls) during movement with the user, the mobile body autonomously moves to seek rescue from nearby people or nearby facilities in order to assist the user. In addition to (or instead of) following and guiding as described above, the mobile body 100 may move while maintaining a distance from the user without touching the user.

[0033] FIG. 4 is a perspective view showing the mobile body 100. In the following description, the front direction of the mobile body 100 is the plus x direction, the rear direction of the mobile body 100 is the minus x direction, the width direction of the mobile body 100, with the plus x direction as a reference, the left direction is the plus y direction, the right direction is the minus y direction, and the direction orthogonal to the x direction and the y direction, which is the height direction of the mobile body 100, is the plus z direction.

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

[0035] On the plus z-direction surface of the base body 110, a columnar support body 150 extending in the plus z direction is provided. At the plus z-direction end of the support body 150, a camera 180 for imaging the periphery of the mobile body 100 is provided. The position where the camera 180 is provided may be any position different from the above.

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

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

[0038] The braking device 136 outputs braking torque to each wheel based on an instruction from the control device 200. The steering device 138 includes an electric motor. The electric motor acts on a rack and pinion mechanism based on an instruction from the control device 200, for example, to change the direction of the first wheel 120 or the second wheel 130, thereby changing the traveling route 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 specifying unit 202, an information processing unit 204, a recognition unit 206, a stop position processing unit 208, a route generation unit 212, an orbit generation unit 214, a control unit 216, and a storage unit 220. The position specifying unit 202, the information processing unit 204, the recognition unit 206, the route generation unit 212, the orbit generation unit 214, and the control unit 216 are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including a circuit unit; 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-transitory storage medium) such as an HDD (Hard Disk Drive) or a flash memory, or may be stored in a removable storage medium (a non-transitory storage medium) such as a DVD or a CD-ROM, and may be installed by mounting the storage medium on a drive device. The storage unit 220 is realized by a storage device such as an HDD, a flash memory, or a RAM (Random Access Memory). The stop position processing unit 208 is an example of a "specifying unit".

[0041] The storage unit 220 stores control information 222 which is a control program for controlling the actions of the moving body 100 referred to by the control unit 216, map information 224, setting area information 226, and stop position information 228. The map information 224 is, for example, map information such as the position where the moving body 100 exists provided by the information providing device 30, the area where the moving body 100 moves, and the periphery of the area.

[0042] The setting area information 226 is an area that the moving body 100 should not enter in advance. The 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 entered. The area that should not be entered is, for example, an area including a facility counter (cash register) and its periphery, an entrance / exit, etc. The position of the setting area may be associated with the map information 224.

[0043] The stop position information 228 is information that defines the stop position of the moving body 100 according to the type of the setting area. FIG. 6 is a diagram showing an example of the content of the stop position information 228. The stop position information 228 is, for example, information in which the type of the setting area and the stop position are associated with each other. For example, if the type of the setting area is a cash register, the stop position is a position near the exit of the facility where the cash register is installed. For example, if the type of the setting area is a hospital counter and the user enters the hospital within the first predetermined time, the stop position is the first position near the entrance of the hospital. For example, if the type of the setting area is a hospital counter and the second predetermined time has elapsed after the user enters the hospital, the stop position is the second position near 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 setting area. For example, the stop position may be determined as a position at a predetermined distance in the X direction with respect to the setting area, or may be determined as a position at a predetermined distance in the direction of a reference point (for example, the entrance and exit of the facility) with respect to the setting area. When there is an obstacle 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 specifying unit 202 specifies the position of the moving body 100. The position specifying unit 202 acquires the position information of the moving body 100 by means of a GPS (Global Positioning System) device (not shown) built in the moving body 100. The position information may be, for example, two-dimensional map coordinates or latitude and longitude information. Further, the position specifying unit 202 may estimate the position of the moving body 100 simultaneously with the creation of the environmental map by means of a so-called SLAM or the like using a camera image captured by the camera 180 or a sensor such as a Lidar.

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

[0046] The recognition unit 206 recognizes, for example, the position of an object (distance from the moving body 100 and direction with respect to the moving body 100), and states such as speed and acceleration, based on an image captured by the camera 180. The object includes traffic participants, obstacles existing in a facility or on a road, and the like. The recognition unit 206 recognizes and tracks the user of the moving body 100. For example, based on an image of the user captured when the user uses the moving body 100 (for example, a face image of the user), or a face image of the user provided by the terminal device 2 or the management device 10 (or a feature amount obtained from the user face image), the recognition unit 206 tracks the user. The recognition unit 206 recognizes gestures made by the user. Note that the moving body 100 may be provided with a detection unit different from the 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 results of the radar device or LIDAR instead of (or in addition to) the image.

[0047] When a target pedestrian enters a set area where the moving body 100 should not enter, the stop position processing unit 208 determines a stop position corresponding to the type of the set area and different from 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 designates a product or a facility, and the moving body 100 sets the location of the designated product or facility as the destination. The route is a route that can reasonably reach the destination. For example, the distance to the destination, the time until reaching the destination, the ease of passing through the route, etc. are scored, and a route is derived in which each score and the integrated score of each score are equal to or higher than a threshold value.

[0049] The trajectory generation unit 214 generates a trajectory that the moving body 100 should travel in the future, for example, based on the user's gesture, the destination set by the user, surrounding objects, the position of the user, etc. The trajectory generation unit 214 generates a trajectory that allows the moving body 100 to move smoothly to the target point. The trajectory generation unit 214 generates a trajectory corresponding to the action of the moving body 100 based on, for example, a predefined correspondence between gestures and actions, or generates a trajectory for the moving body 100 to reach the destination while avoiding surrounding objects. The trajectory generation unit 214 generates a trajectory for following the tracked user or leading the user, for example. The trajectory generation unit 214 generates a trajectory corresponding to the action based on a preset mode, for example. The trajectory generation unit 214 generates a plurality of trajectories corresponding to the action of the moving body 100, obtains the risk for each trajectory, and when the total value of the obtained risks and the risk of each trajectory point satisfy a preset criterion (for example, when the total value is less than or equal to the threshold Th1 and the risk of each trajectory point is less than or equal to the threshold Th2), the trajectory that satisfies the criterion is adopted as the trajectory for the moving body 100 to move. The risk has a tendency that, for example, the smaller the distance to an obstacle for a trajectory (trajectory points of the trajectory), the higher the risk, and the larger the distance to an obstacle for the trajectory, the smaller the risk.

[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 moves the moving body 100 to the determined stop position by interrupting the pursuit of the target pedestrian.

[0051] [Control According to the Type of the Setting Area] When a pedestrian enters a set area where the mobile object 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, interrupts following the pedestrian, and moves the mobile object to the identified stop position. The stop position according to the type of the set area is a position near the set area where it is presumed that other pedestrians will not be hindered from entering the set area. The stop position is, for example, near the entrance or exit of the set area, a position different from the entrance or exit, or a position at a predetermined distance from the set area. Also, the stop position may be within a predetermined range determined by the size of the set area, the size of the mobile object, etc.

[0052] The stop position processing unit 208 recognizes the type of the set area based on the type of the object recognized by the recognition unit 206. For example, the stop position processing unit 208 recognizes a cash register, a shopping cart, a shopping basket, a counter of a facility such as a hospital, a toilet, etc. as the type of the object. The stop position processing unit 208 recognizes the type of the set area according to the recognized type of the object, and specifies a stop position according to the type of the set area with reference 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 defines the type of the different object and the stop position.

[0053] Instead of the recognition result of the recognition unit 206, the stop position processing unit 208 may specify the type of the set area based on the position of the mobile object 100 and the map information 224. For example, the map information 224 stores information in which the position of the set area and the type of the set area are associated. Further, the stop position processing unit 208 may specify the type of the set area by using the recognition result of 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 by using the result of the process with a higher preset priority.

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

[0055] FIG. 7 is a diagram (1) for explaining Scene 1. The moving body 100 captures an image in a horizontal direction with respect to the ground. In the example of FIG. 7, for the sake of explanation, a view of the ground seen from above is shown. The same applies to the subsequent figures. The moving body 100 is following the user TA. The user TA has approached the cash register. When the control device 200 recognizes the cash register, the control device 200 sets a set area corresponding to the cash register. As shown in FIG. 7, a preset area including the cash register 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 temporarily interrupts the process of making the moving body 100 follow the user TA without entering the set area AR1, 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 the position on the exit side of the cash register instead of the position closer to the exit of the facility. After that, when the user TA exits the set area AR1 and approaches the exit, the control device 200 makes the moving body 100 follow the user TA. For example, after the control device 200 stops the moving body 100 at the stop position in response to the user TA entering the set area AR1, when the user TA exits the set area AR1, the control device 200 resumes the process of making the moving body 100 follow the user TA. In this case, for example, the moving body 100 resumes following without entering the set area AR1. Thereby, the possibility of interfering with other users is reduced.

[0057] As described above, the control device 200 can wait for the user at an appropriate stop position according to the behavior of the user TA. Thereby, it is suppressed that the moving body 100 interferes with the movement of other traffic participants or the user TA. After the user exits the set area, the moving body 100 can smoothly follow the user.

[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, in the case of the first hour (immediately after entry) from when the user or the moving body 100 enters the facility in the set area, the stop position is determined to be the first stop position. When the time exceeds the first hour (after some time has passed since entry) from when the user or the moving body 100 enters the facility in the set area, 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 away from the entrance, a position away from the exit, a position away from both the entrance and the exit, or a position inside the facility relative to 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 the user or the moving body 100 is within the first predetermined time after visiting 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 pedestrian enters the set area related to the counter, if the user or the moving body 100 has passed the second predetermined time after visiting 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 where user TA and mobile body 100 visit a facility such as a hospital. The mobile body 100 is following user TA. User TA enters the facility and approaches the counter. The control device 200 recognizes the counter and sets a setting area AR2 corresponding to the counter. As shown in FIG. 9, a preset area including the counter is set as the setting area AR2.

[0061] In Scene 2-1, since it is within the first predetermined time after the pedestrian visits the facility, the control device 200 determines a stop position at a position farther from the facility entrance E than the pedestrian, and moves the mobile body 100 to the stop position. In the example of FIG. 9, the mobile body 100 has stopped at the stop position. After that, when the pedestrian leaves the counter and starts moving, the control device 200 makes the mobile body 100 follow user TA.

[0062] As described above, the control device 200 can wait for the user at an appropriate stop position according to the behavior of user TA. Furthermore, since the time when the user enters the facility is considered, the mobile body 100 waits for the user at a stop position according to the user's next behavior. Thereby, it is suppressed that the mobile body 100 interferes with other users or the movement of the user, and furthermore, the mobile body 100 can smoothly follow the user.

[0063] [Scene 2-2] FIG. 10 is a diagram (1) for explaining Scene 2-2. The explanation will focus on the differences from Scene 2-1. The mobile body 100 is following user TA. After user TA enters the facility and after a second predetermined time has elapsed, user TA approaches the counter. 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 more than the second predetermined time has elapsed 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 mobile body 100 to the stop position. In the example of FIG. 10, the mobile body 100 has stopped at the stop position. After that, when the pedestrian leaves the counter and starts moving, the control device 200 causes the mobile body 100 to follow the user TA.

[0065] In the above example, the control device 200 determines the stop position based on time. Instead of (or in addition to) this, the stop position may be determined based on the moving direction of the user. For example, the control device 200 may determine the stop position in front of or behind the user based on the moving direction of the user. For example, the stop position corresponding to the type of the set area is a stop position in front of or behind the user based on the moving direction of the user, and this stop position is a different position for each type of the set area. For example, the stop position is a position corresponding to the type of the set area in front of or behind the moving direction of the user. Thus, the same effects as described above can be obtained.

[0066] [Scene 3] When the control device 200 recognizes that the set area is a toilet, the control device 200 determines a predetermined area in front of the toilet as the stop position, and moves the mobile 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 entrance / exit of the toilet. FIG. 11 is a diagram for explaining Scene 3. Scene 3 is a scene where the user TA approaches the entrance of the toilet. The mobile body 100 is following the user TA. The user TA has approached the set area of the toilet. The control device 200 recognizes the entrance of the toilet from the display of the toilet or the like, and sets a set area AR3 corresponding to the toilet. As shown in FIG. 11, a preset area including the toilet and the entrance / exit E of the toilet is set as the set area AR3.

[0067] The user entered the setting area AR3. The control device 200 moves the moving body 100 to a stop position, which is an area in front of the entrance / exit E of the toilet. In the example of FIG. 11, the moving body 100 is stopped at the stop position. After that, when the user TA comes out of the entrance / exit E of the toilet, the control device 200 recognizes the user TA and makes the moving body 100 follow the user TA.

[0068] As described above, the control device 200 can wait for the user at an appropriate stop position according to the behavior of the user TA. Thereby, it is suppressed that the moving body 100 interferes with other users or the movement of the user.

[0069] [Flowchart] FIG. 12 is a flowchart showing an example of the flow of processing executed by the control device 200. First, the control device 200 determines whether the user has entered the setting area (step S100). If the user has entered the setting area, the control device 200 identifies the type of the setting area (step S102). Next, the control device 200 identifies a stop position according to the type of the setting area (step S104). In this process, when the setting area is a predetermined counter, the time from when the user visited the facility to when the user entered the setting area (or the current time) is considered and the stop position is determined. Further, based on the position of the object, the stop position is appropriately adjusted. For example, when the object exists at or near the stop position, the control device 200 determines a position at a predetermined distance 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 determines whether the user has exited the setting area (step S108). If the user has exited the setting area, the control device 200 resumes following the user for the moving body 100 (step S110). Thereby, the processing of one routine of this flowchart ends.

[0071] According to the embodiment described above, when a target pedestrian enters a set area where the mobile body 100 should not enter, the control system determines a stop position corresponding to the type of the set area, which is different from the set area, and interrupts following the target pedestrian, and moves the mobile body 100 to the determined stop position, thereby being able to determine a stop position according to the environment.

[0072] The embodiment described above can be expressed as follows. A storage medium storing computer-readable instructions, A processor connected to the storage medium, and the processor, by executing the computer-readable instructions (the processor executing the computer-readable instructions to:) controls a mobile body that can autonomously move in an area where a pedestrian can move and moves following the target pedestrian, recognizes the pedestrian and objects around the mobile body, when the target pedestrian enters a set area where the mobile body should not enter, determines a stop position corresponding to the type of the set area, which is different from the set area, and interrupts following the target pedestrian and moves the mobile body to the determined stop position.

[0073] As described above, the embodiments for implementing the present invention have been described using the embodiments, but the present invention is not limited to such embodiments, and various modifications and substitutions can be made without departing from the gist of the present invention.

Explanation of Reference Numerals

[0074] 1 Mobile body system 2 Terminal device 10 Management device 30 Information providing device 100 Moving body 200 Control device 204 Information processing unit 206 Recognition unit 208 Stop position processing unit 210 Setting unit 216 Control unit 220 Memory unit 226 Setting area information 228 Stop position information

Claims

1. A control system that is capable of autonomously moving in an area where a pedestrian can move and controls a moving body that moves following a target pedestrian, a recognition unit that recognizes the pedestrian and objects around the moving body, a specifying unit that, when the target pedestrian enters a set area where the moving body should not enter, determines a stop position corresponding to the type of the set area and different from the set area, a control unit that interrupts following the target pedestrian and moves the moving body to the determined stop position, comprising: the specifying 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, control system.

2. A control system that is capable of autonomously moving in an area where a pedestrian can move and controls a moving body that moves following a target pedestrian, a recognition unit that recognizes the pedestrian and objects around the moving body, a specifying unit that, when the target pedestrian enters a set area where the moving body should not enter, determines a stop position corresponding to the type of the set area and different from the set area, a control unit that interrupts following the target pedestrian and moves the moving body to the determined stop position, comprising: when the recognition unit recognizes a target object indicating that the set area is a set area related to a cash register and recognizes that the set area is a set area related to a cash register, the specifying unit determines the stop position at a position on the exit side of the facility where the cash register is installed in the cash register or at a position on the exit side of the cash register, the control unit moves the moving body to the stop position, control system.

3. The target object is a cash register, a shopping cart, or a shopping cart, The control system according to claim 2.

4. A control system that is capable of autonomously moving in an area where a pedestrian can move and controls a moving body that moves following a target pedestrian, a recognition unit that recognizes the pedestrian and objects around the moving body, a specifying unit that, when the target pedestrian enters a set area where the moving body should not enter, determines a stop position corresponding to the type of the set area and different from the set area, A control unit that interrupts following the target pedestrian and moves the moving body to the determined stop position; Comprising; When the target pedestrian or the moving body enters the set area, the specifying unit determines the stop position according to the time from when the target pedestrian or the moving body enters the facility in the set area to when the target pedestrian enters the set area. Control system.

5. A control system that can autonomously move in an area where a pedestrian can move and controls a moving body that moves following a target pedestrian, A recognition unit that recognizes objects around the pedestrian and the moving body; When the target pedestrian enters a set area where the moving body should not enter, a specifying unit determines a stop position corresponding to the type of the set area and different from the set area; A control unit that interrupts following the target pedestrian and moves the moving body to the determined stop position; Comprising; 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 visits the facility where the counter is installed within a first predetermined time, the specifying unit determines a position farther from the facility entrance than the target pedestrian as the stop position. Control system.

6. A control system that can autonomously move in an area where a pedestrian can move and controls a moving body that moves following a target pedestrian, A recognition unit that recognizes objects around the pedestrian and the moving body; When the target pedestrian enters a set area where the moving body should not enter, a specifying unit determines a stop position corresponding to the type of the set area and different from the set area; A control unit that interrupts following the target pedestrian and moves the moving body to the determined stop position; Comprising; 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 elapsed since the target pedestrian or the moving body visited the facility, the specifying unit determines a position closer to the facility exit than the target pedestrian as the stop position. Control system.

7. The stop position according to the type of the setting area is a position near the setting area where it is estimated that entry of other pedestrians into the setting area is not hindered. The control system according to any one of claims 1 to 6.

8. When the target pedestrian enters a setting area where the moving body should not enter, the specific unit determines the stop position at a position in front of or behind the target pedestrian based on the moving direction of the target pedestrian. The control system according to any one of claims 1 to 6.

9. The control unit, after stopping the moving body at the stop position in response to the target pedestrian entering the setting area, when the target pedestrian exits the setting area, resumes following the target pedestrian by the moving body. The control system according to any one of claims 1 to 6.

10. After stopping the moving body at the stop position, when the target pedestrian exits the setting area, the control unit resumes following the target pedestrian by the moving body while preventing the moving body from entering the setting area. The control system according to claim 9.

11. A computer of a control system that autonomously moves in an area where a pedestrian can move and controls a moving body that moves following a target pedestrian, recognizes objects around the pedestrian and the moving body, when the target pedestrian enters a setting area where the moving body should not enter, determines a stop position according to the type of the setting area, which is different from the setting area, interrupts following the target pedestrian and moves the moving body to the determined stop position, the computer recognizes the type of the setting area based on the type of the recognized object, or recognizes the type of the setting area based on the position of the moving body and the type of the setting area associated in the map information. Control method.

12. In a computer of a control system that autonomously moves in an area where a pedestrian can move and controls a moving body that moves following a target pedestrian, a process of recognizing objects around the pedestrian and the moving body, a process of determining a stop position according to the type of the setting area, which is different from the setting area, when the target pedestrian enters a setting area where the moving body should not enter. A process of moving the mobile body to the stop position determined by interrupting the follow-up of the target pedestrian; to cause to execute; a process of causing the computer to recognize the type of the setting area based on the type of the recognized object or to recognize the type of the setting area based on the type of the setting area associated with the position of the mobile body in the map information; Program.

13. A mobile body that can autonomously move in an area where a pedestrian can move and moves following a target pedestrian, recognizes objects around the pedestrian and the mobile body, when the target pedestrian enters a setting area where the mobile body should not enter, determines a stop position corresponding to the type of the setting area and different from the setting area, moves to the determined stop position by interrupting the follow-up of the target pedestrian, recognizes the type of the setting area based on the type of the recognized object or recognizes the type of the setting area based on the type of the setting area associated with the position of the mobile body in the map information; Mobile body.

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