Autonomous mobility system, autonomous mobility method, and autonomous mobility program

Abstract

To provide an autonomous mobile system, an autonomous mobile method, and an autonomous mobile program with which it is possible to change operation depending on situations.SOLUTION: An autonomous mobile system 1 according to the present disclosure comprises: a control unit 111 for executing control of movement of an autonomous mobile body 100, including collision control; a setting unit 114 for setting a prescribed defense space 130 on the periphery of the autonomous mobile body 100, which is a defense space 130 for executing collision control; and a classification unit 116 mounted to the autonomous mobile body 100, for classifying the obstacle detected by a detection unit 115 and the obstacle detected by a detection unit 950. The setting unit 114 causes the range of the defense space 130 to be altered to a first range on the basis of classification results from the classification unit 116 having classified the obstacle detected by one of the detection unit 115 and the detection unit 950, and causes the range of the defense space 130 to be altered from the first range to a second range on the basis of classification results from the classification unit 116 having classified the obstacle detected by at least the other.SELECTED DRAWING: Figure 13

Description

[Technical Field]

[0001] The present disclosure relates to an autonomous mobility system, an autonomous mobility method, and an autonomous mobility program. [Background technology]

[0002] Patent Document 1 discloses an autonomous mobile system equipped with an autonomous mobile body. The autonomous mobile body in Patent Document 1 is equipped with a sensor that detects obstacles around the autonomous mobile body, and sets no-entry spaces and entry-restricted spaces. When the sensor detects an obstacle entering the entry-restricted space, the autonomous mobile body reduces its movement speed or performs an avoidance action. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-086217 Summary of the Invention [Problem to be solved by the invention]

[0004] Although Patent Document 1 describes that when an autonomous mobile body starts, it notifies the surroundings with sound and LEDs, it does not describe any obstacle avoidance operation when starting. Even if there is an obstacle near the autonomous mobile body, the autonomous mobile body will start as long as it is outside the no-entry space of the autonomous mobile body. Therefore, if an obstacle located near the no-entry space moves immediately after the autonomous mobile body starts, there is a possibility that it will collide with the autonomous mobile body.

[0005] Furthermore, if there is an obstacle in the no-entry space of a stopped autonomous moving body, the autonomous moving body may not be able to start moving until the obstacle moves away. In order for the autonomous moving body to start moving without interfering with the obstacle, it is desirable to grasp the situation of the movement of the obstacle around the autonomous moving body and change the operation such as starting or stopping depending on the situation.

[0006] The purpose of the present disclosure has been made to solve such problems, and it is an object of the present disclosure to provide an autonomous movement system, an autonomous movement method, and an autonomous movement program that can change their operation depending on the situation. [Means for solving the problem]

[0007] The autonomous mobile system according to this embodiment is an autonomous mobile system including an autonomous mobile body that moves autonomously, and includes a control unit that controls the movement of the autonomous mobile body, including at least one of collision control for avoiding a collision between the autonomous mobile body and an obstacle and control for reducing damage at the time of a collision; a setting unit that sets a predetermined defensive space around the autonomous mobile body and uses the defensive space for executing the collision control by the control unit; and a first detection unit that is mounted on the autonomous mobile body and detects obstacles around the autonomous mobile body, and a second detection unit that is installed in a facility space where the autonomous mobile body moves and detects obstacles around the autonomous mobile body. and a classification unit that classifies the obstacle detected by the detection unit, wherein the setting unit changes the range of the defendable space to a first range based on the classification result of the classification unit of the obstacle detected by one of the first detection unit and the second detection unit, and changes the range of the defendable space from the first range to a second range based on the classification result of the classification unit of the obstacle detected by at least the other of the first detection unit and the second detection unit, and the control unit executes control of the movement of the autonomous moving body, including the collision control, at least either when the obstacle is inside the defendable space or when the obstacle is predicted to enter the defendable space.

[0008] In the above autonomous mobile system, the movement of the autonomous mobile body may include a departure of the autonomous mobile body, and the control unit may stop the departure of the autonomous mobile body based on the obstacle classified by the classification unit.

[0009] In the above autonomous mobile system, the control unit may stop movement of the autonomous mobile body when the obstacle is present in the first range and the second range.

[0010] In the above-described autonomous mobile system, the classification unit may classify the obstacle detected by the detection unit by using an algorithm that has been machine-learned using the obstacle as learning data.

[0011] In the above-described autonomous mobile system, when the classification unit classifies the obstacle as a wall, the setting unit may exclude the wall portion of the defense space from the defense space.

[0012] In the above-mentioned autonomous mobile system, if the classification unit classifies the obstacle as a wheelchair, the setting unit may reduce the width of the protected space on the wheelchair side and increase the width of the protected space on the opposite side to the wheelchair.

[0013] In the above-mentioned autonomous mobile system, if the classification unit classifies the obstacle as the wheelchair that has been stopped for a predetermined period of time, the setting unit may exclude the portion of the protected space that is occupied by the wheelchair from the protected space.

[0014] In the above-described autonomous mobile system, when the classification unit classifies the obstacle as the wheelchair in which a person is riding, the control unit may cause the autonomous mobile body to move away from the wheelchair.

[0015] In the above-described autonomous mobile system, when the classification unit classifies the obstacle as a stretcher, the setting unit may increase the size of the protected space, and the control unit may cause the autonomous mobile body to exit a space through which the stretcher passes in the direction of travel of the stretcher.

[0016] The autonomous mobile system may further include a memory unit that stores map information of a facility space in which the autonomous mobile body moves, and the classification unit may classify the detected obstacle based on the map information acquired from the memory unit.

[0017] An autonomous movement method according to this embodiment is an autonomous movement method for an autonomous moving body that moves autonomously, and includes the steps of: setting a predetermined defensive space around the autonomous moving body, the defensive space being used to perform at least one of collision control, which is control to avoid a collision between the autonomous moving body and an obstacle and control to reduce damage during a collision; classifying obstacles around the autonomous moving body detected by a first detection unit mounted on the autonomous moving body and obstacles around the autonomous moving body detected by a second detection unit installed in a facility space in which the autonomous moving body moves; changing the range of the defensive space to a first range based on a result of classifying the obstacles detected by one of the first detection unit and the second detection unit; changing the range of the defensive space from the first range to a second range based on a result of classifying the obstacles detected by at least the other of the first detection unit and the second detection unit; and executing control of the movement of the autonomous moving body, including the collision control, at least in either case where the obstacle is present inside the defensive space or where it is predicted that the obstacle will enter the defensive space.

[0018] The autonomous movement program according to this embodiment is an autonomous movement program for an autonomously moving autonomous mobile body, and causes a computer to execute the following steps: setting a predetermined defensive space around the autonomous mobile body, the defensive space being used to perform at least one of collision control, namely, control to avoid a collision between the autonomous mobile body and an obstacle and control to reduce damage during a collision; classifying obstacles around the autonomous mobile body detected by a first detection unit mounted on the autonomous mobile body and obstacles around the autonomous mobile body detected by a second detection unit installed in a facility space in which the autonomous mobile body moves; changing the range of the defensive space to a first range based on a result of classifying the obstacles detected by one of the first detection unit and the second detection unit; changing the range of the defensive space from the first range to a second range based on a result of classifying the obstacles detected by at least the other of the first detection unit and the second detection unit; and executing control of the movement of the autonomous mobile body, including the collision control, at least in either case where the obstacle is present inside the defensive space or where it is predicted that the obstacle will enter the defensive space. [Effects of the Invention]

[0019] According to the present disclosure, it is possible to provide an autonomous mobile system that can change its operation depending on the situation. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a schematic diagram illustrating an autonomous moving body in an autonomous moving system according to a first embodiment. [Figure 2] 1 is a schematic diagram illustrating an autonomous moving body in an autonomous moving system according to a first embodiment. [Figure 3] 1 is a schematic diagram illustrating an example of a facility space in which an autonomous mobile system according to a first embodiment is installed. [Figure 4] 1 is a configuration diagram illustrating an autonomous moving body and a management device in an autonomous moving system according to a first embodiment. [Figure 5]1 is a block diagram illustrating an autonomous moving body and a management device in an autonomous moving system according to a first embodiment. [Figure 6] 10 is a block diagram illustrating an autonomous moving body in an autonomous moving system according to another example of the first embodiment. FIG. [Figure 7] 3 is a diagram illustrating an example of a protected space set by a setting unit of the autonomous mobile system according to the first embodiment. FIG. [Figure 8] 3 is a diagram illustrating an example of a protected space set by a setting unit of the autonomous mobile system according to the first embodiment. FIG. [Figure 9] 3 is a diagram illustrating an example of the range of a protected space changed by a setting unit of the autonomous mobile system according to the first embodiment. FIG. [Figure 10] 3 is a diagram illustrating an example of the range of a protected space changed by a setting unit of the autonomous mobile system according to the first embodiment. FIG. [Figure 11] 3 is a diagram illustrating an example of the range of a protected space changed by a setting unit of the autonomous mobile system according to the first embodiment. FIG. [Figure 12] 3 is a diagram illustrating an example of the range of a protected space changed by a setting unit of the autonomous mobile system according to the first embodiment. FIG. [Figure 13] 3 is a diagram illustrating an example of the range of a protected space changed by a setting unit of the autonomous mobile system according to the first embodiment. FIG. [Figure 14] 1 is a schematic diagram illustrating an autonomous moving body in an autonomous moving system according to a first embodiment. [Figure 15] 3 is a flowchart illustrating an autonomous movement method for an autonomous moving body according to the first embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0021] Specific configurations of the present embodiment will be described below with reference to the drawings. The following description illustrates preferred embodiments of the present disclosure, and the scope of the present disclosure is not limited to the following embodiments. Furthermore, not all of the configurations described in the present embodiment are necessarily essential means for solving the problems. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are assigned the same reference numerals, and duplicate explanations are omitted as necessary.

[0022] (Embodiment 1) An autonomous mobile system according to embodiment 1 will be described. In this embodiment, the autonomous mobile system may be replaced with an autonomous mobile body, or the autonomous mobile body may be replaced with the autonomous mobile system. Furthermore, the autonomous mobile system of this embodiment may include an autonomous mobile body.

[0023] 1 and 2 are schematic diagrams illustrating an autonomous mobile body in the autonomous mobile system according to the first embodiment. As shown in FIG. 1, the autonomous mobile system 1 includes an autonomous mobile body 100 that moves autonomously, and is arranged in a predetermined facility space 900. The facility space 900 is, for example, a space within a hospital. Note that the facility space 900 is not limited to a space within a hospital, and may be a space within a rehabilitation center, a nursing home, or a facility for the elderly, as long as it is a space in which the autonomous mobile system 1 is arranged. Furthermore, the facility space 900 may be a space within a business office, a factory, a warehouse, or a commercial facility such as a shopping mall. The autonomous mobile system 1 may be arranged not only indoors, but also outdoors, such as in a theme park or a tourist destination.

[0024] Here, an XYZ Cartesian coordinate system is introduced for the convenience of explaining the autonomous mobile system 1. For example, the floor surface of the facility space 900 in which the autonomous mobile body 100 moves is defined as the XY plane, and the direction perpendicular to the floor surface is defined as the Z axis direction.

[0025] As shown in FIGS. 1 and 2, the autonomous mobile body 100 moves within a facility space 900. The autonomous mobile body 100 is, for example, a transport robot that performs the task of transporting an object to be transported. The autonomous mobile body 100 may be an autonomous guided vehicle that travels autonomously by wheel drive. The autonomous mobile body 100 may also include a hovercraft type or a linear motor type that can travel by means other than wheel drive. Furthermore, the autonomous mobile body 100 may not only perform autonomous movement control by itself, but may also include a case where its autonomous travel is controlled by a control signal or the like transmitted from a management device such as an external server.

[0026] A user places an item in the autonomous mobile body 100 and requests delivery. The autonomous mobile body 100 autonomously moves to the set destination and delivers the item. If the facility space 900 is a hospital, as shown in FIG. 1, the autonomous mobile body 100 delivers the item from a nurse station NS of one medical department to a nurse station NS of another medical department. Alternatively, the autonomous mobile body 100 delivers the item from a storage room for supplies and medical equipment to the nurse station NS of the medical department. Then, as shown in FIG. 2, the autonomous mobile body 100 turns at the nurse station NS and moves from the nurse station NS to another destination. For example, the autonomous mobile body 100 delivers dispensed medicine to the medical department or patient that will use it. The autonomous mobile body 100 may also transport supplies, consumables, medical equipment, etc. between multiple medical departments.

[0027] Examples of transported items include consumables such as medicines and packets, specimens, testing equipment, medical instruments, hospital food, stationery, and other supplies. Medical equipment includes blood pressure monitors, transfusion pumps, syringe pumps, foot pumps, nurse call buttons, bed exit sensors, foot pumps, low-pressure continuous inhalers, electrocardiogram monitors, drug infusion controllers, enteral nutrition pumps, ventilators, cuff pressure gauges, touch sensors, aspirators, nebulizers, pulse oximeters, blood pressure monitors, artificial resuscitators, sterilization devices, and ultrasound machines. Meals such as hospital meals and test meals may also be transported. Furthermore, the autonomous mobile body 100 may transport used equipment, used tableware, and the like. When the destination is on a different floor, the autonomous mobile body 100 may travel using an elevator or the like.

[0028] FIG. 3 is a schematic diagram illustrating a facility space 900 in which the autonomous mobile system 1 according to the first embodiment is arranged. As shown in FIG. 3, the facility space 900 may have a wall 910. The autonomous mobile body 100 may move in a space surrounded by the wall 910. A wheelchair 920 and a stretcher 930 may be arranged in the facility space 900. The wheelchair 920 and the stretcher 930 may move in the facility space 900 or may be fixed to predetermined positions in the facility space 900. A person 940 may be present in the facility space 900. The person 940 may move in the facility space 900.

[0029] A detection unit 950 including one or more facility cameras and one or more facility sensors may be installed in the facility space 900. Multiple autonomous moving bodies 100 and 100a may move in the facility space 900. While two autonomous moving bodies 100 and 100a are shown in FIG. 3, three or more autonomous moving bodies 100, 100a, ... may move in the facility space 900. The facility space 900 includes a wall 910, a wheelchair 920, a stretcher 930, and a person 940, which are obstacles to the movement of the autonomous moving body 100. The detection unit 950 acquires information such as images and videos related to obstacles around the autonomous moving body 100 in the facility space 900. In this way, the detection unit 950 detects obstacles around the autonomous moving body 100.

[0030] Fig. 4 is a configuration diagram illustrating an autonomous mobile system 1 according to embodiment 1. As shown in Fig. 4, the autonomous mobile system 1 may include an autonomous mobile body 100, a management device 200, a network 800, a communication unit 810, and a user terminal 820. The autonomous mobile system 1 may include multiple user terminals 820, or may include multiple autonomous mobile bodies 100 as described above.

[0031] The user U can use the user terminal 820 to make a transport request for an item to be transported to the autonomous moving body 100. For example, the user terminal 820 is a tablet computer, a smartphone, or the like. The user terminal 820 may be any information processing device capable of wireless or wired communication.

[0032] In this embodiment, the autonomous mobile body 100 and the user terminal 820 are connected to the management device 200 via a network 800. The autonomous mobile body 100 and the user terminal 820 are connected to the network 800 via a communication unit 810. The network 800 is a wired or wireless LAN (Local Area Network) or WAN (Wide Area Network). Furthermore, the management device 200 is connected to the network 800 via a wired or wireless connection. The communication unit 810 is, for example, a wireless LAN unit installed in each environment. The communication unit 810 may be, for example, a general-purpose communication device such as a WiFi router.

[0033] Various signals transmitted from the user terminal 820 of the user U are first sent to the management device 200 via the network 800, and then forwarded from the management device 200 to the target autonomous mobile body 100. Similarly, various signals transmitted from the autonomous mobile body 100 are first sent to the management device 200 via the network 800, and then forwarded from the management device 200 to the target user terminal 820. The management device 200 may be a server connected to each device and collects data from each device. Furthermore, the management device 200 is not limited to a single physical device, but may include multiple devices that perform distributed processing. Furthermore, the management device 200 may be distributed and located in edge devices such as the autonomous mobile body 100. For example, part or all of the autonomous mobile system 1 may be mounted on the autonomous mobile body 100.

[0034] The user terminal 820 and the autonomous mobile body 100 may transmit and receive signals without going through the management device 200. For example, the user terminal 820 and the autonomous mobile body 100 may transmit and receive signals directly via wireless communication. Alternatively, the user terminal 820 and the autonomous mobile body 100 may transmit and receive signals via the communication unit 810.

[0035] Fig. 5 is a block diagram illustrating an autonomous mobile body 100 and a management device 200 in the autonomous mobile system 1 according to embodiment 1. Fig. 6 is a block diagram illustrating an autonomous mobile body 100 in an autonomous mobile system 1 according to another example of embodiment 1. As shown in Fig. 5, the autonomous mobile system 1 may include the autonomous mobile body 100 and the management device 200, or as shown in Fig. 6, the autonomous mobile system 1a may include only the autonomous mobile body 100.

[0036] 5 and 6, the autonomous mobile body 100 includes a control unit 111, a memory unit 112, a communication unit 113, a setting unit 114, a detection unit 115, a classification unit 116, a drive unit 117, a display unit 118, and an operation reception unit 119. The management device 200 includes a control unit 211, a memory unit 212, and a communication unit 213. Note that FIGS. 5 and 6 show representative processing blocks included in the autonomous mobile body 100 and the management device 200. The autonomous mobile body 100 and the management device 200 may include other processing blocks not shown.

[0037] The control unit 111 controls the autonomous mobile body 100. For example, the control unit 111 controls the movement of the autonomous mobile body 100. The control unit 111 controls the movement of the autonomous mobile body 100, for example, to reduce the risk of colliding with an obstacle or damage in the event of a collision. Specifically, the control unit 111 causes the autonomous mobile body 100 to move in a manner that avoids the obstacle so as not to collide with the obstacle. Furthermore, the control unit 111 may control the autonomous mobile body 100 to decelerate or stop. Furthermore, the control unit 111 may control the autonomous mobile body 100 to move in the same direction as other autonomous mobile bodies 100. At least one of control to avoid collision with an obstacle and control to reduce damage in the event of a collision is called collision control. The control unit 111 executes control of the movement of the autonomous mobile body 100, including collision control. The movement of the autonomous mobile body 100 may include the autonomous mobile body 100 starting.

[0038] The control unit 111 has a function capable of executing a program, such as a central processing unit (CPU) of a computer, etc. The functions of each unit of the autonomous moving body 100 can also be realized by a program.

[0039] The storage unit 112 stores various data for the movement of the autonomous moving body 100. The storage unit 112 stores, for example, data such as the destination of an item input by the user U. The communication unit 113 communicates with the user terminal 820 and the management device 200, and acquires various data from the user terminal 820 and the management device 200.

[0040] The setting unit 114 sets a predetermined defense space around the autonomous mobile body 100. FIGS. 7 and 8 are diagrams illustrating an example of the defense space 130 set by the setting unit 114 of the autonomous mobile system 1 according to the first embodiment. As shown in FIG. 7, the setting unit 114 sets, for example, a cylindrical defense space 130 around the autonomous mobile body 100. The defense space 130 is a space for executing at least one of control for avoiding a collision with an obstacle and control for reducing damage in the event of a collision. Specifically, the defense space 130 is a range (space) set for executing control for reducing the risk of collision or damage in the event of a collision when an obstacle has entered or is predicted to enter the set range. The defense space 130 is a space for executing collision control by the control unit 111. The defense space 130 may be cylindrical with a central axis extending in the Z-axis direction. In Figure 7, the autonomous moving body 100 is shown as a columnar or cylindrical space centered on the autonomous moving body 100, but its size and shape are determined appropriately depending on the facility space 900 in which the autonomous moving body 100 is used, the size and movement performance of the autonomous moving body 100, the detection ranges of the detection unit 115 and the detection unit 950, etc.

[0041] 8, the setting unit 114 may set a rectangular parallelepiped-shaped defense space 130 around the autonomous mobile body 100. The defense space 130 may be a rectangular parallelepiped that surrounds the autonomous mobile body 100. Note that the shape of the defense space 130 is not limited to a cylindrical shape or a rectangular parallelepiped shape, and may be another shape, such as a sphere that contains the autonomous mobile body 100 inside.

[0042] The detection unit 115 detects obstacles around the autonomous mobile body 100. The detection unit 115 is mounted on the autonomous mobile body 100. The detection unit 115 may include at least one of a sensor and a camera. The sensor may be, for example, a distance sensor. The detection unit 115 may include multiple sensors. The detection capability of the detection unit 115 to detect obstacles may extend outside the defendable space 130. The detection unit 115 may detect obstacles by acquiring information such as images and videos of the obstacles using a camera or the like. The detection unit 115 outputs information about the detected obstacles to the classification unit 116. The autonomous mobile system 1 may also include a detection unit 950. The detection unit 950 is installed in the facility space 900 in which the autonomous mobile body 100 moves. The detection unit 950 may include at least one of a sensor and a camera. The detection unit 950 outputs information about the detected obstacles to the classification unit 116 via the network 800 or directly. The detector 115 may be referred to as a first detector, and the detector 950 may be referred to as a second detector.

[0043] As described above, the detection unit 950 may or may not belong to the autonomous mobile system 1. Below, aspects of the autonomous mobile system 1, the autonomous mobile body 100, the management device 200, and the detection unit 950 will be described as Examples 1 to 3.

[0044] A. Example 1 The autonomous mobile system 1 may include an autonomous mobile body 100, a management device 200, and a detection unit 950. In this case, information about an obstacle detected by the detection unit 950 is output to the autonomous mobile body 100 via the management device 200 or directly.

[0045] B. Example 2 The autonomous mobile system 1 includes an autonomous mobile body 100 and a management device 200, and the detection unit 950 does not have to belong to the autonomous mobile system 1. In this case, information about an obstacle detected by the detection unit 950 is output to the autonomous mobile body 100 via the management device 200 or directly.

[0046] C. Example 3 The autonomous mobile system 1 includes the autonomous mobile body 100, and the management device 200 and the detection unit 950 do not have to belong to the autonomous mobile system 1. In this case, information about an obstacle detected by the detection unit 950 may be output directly to the autonomous mobile body 100, or may be output to the autonomous mobile body 100 via the management device 200.

[0047] The classification unit 116 classifies the detected obstacle. The classification unit 116 acquires information about the detected obstacle from at least one of the detection unit 115 and the detection unit 950. For example, the classification unit 116 acquires an image of the obstacle. The classification unit 116 classifies the obstacle from the acquired information about the obstacle. For example, the classification unit 116 classifies the obstacle as a wall 910. The classification unit 116 may also classify the obstacle as a wheelchair 920 or as a stretcher 930. The classification unit 116 outputs the information about the classified obstacle to the setting unit 114. The classification unit 116 may also output the information about the classified obstacle to the control unit 111.

[0048] The classification unit 116 may also have an algorithm that has been machine-learned to learn obstacles as learning data. The classification unit 116 may classify the obstacles detected by the detection unit 115 by using the machine-learned algorithm.

[0049] The defended space 130 is a space provided to defend the autonomous mobile body 100 from obstacles. Therefore, when an obstacle is present inside the defended space 130, the control unit 111 executes control of the movement of the autonomous mobile body 100, including collision control. For example, as described above, the control unit 111 may control the autonomous mobile body 100 to decelerate or stop. Furthermore, the control unit 111 may control the autonomous mobile body 100 to move in the same direction as other autonomous mobile bodies 100. Furthermore, the control unit 111 may predict whether an obstacle will enter the defended space 130. For example, the control unit 111 may predict whether an obstacle will enter the defended space 130 based on the direction and speed of the obstacle's movement. Even when an obstacle is predicted to enter the defended space 130, the control unit 111 may control the movement of the autonomous mobile body 100 as described above.

[0050] As shown in Fig. 7, if a wall 910 is included inside the protected space 130, the control unit 111 stops the movement of the autonomous moving body 100. Furthermore, as shown in Fig. 8, if a wheelchair 920 is included inside the protected space 130, the control unit 111 stops the movement of the autonomous moving body 100. If the movement of the autonomous moving body 100 includes the departure of the autonomous moving body 100, the control unit 111 stops the departure of the autonomous moving body 100. Therefore, if a wall 910 or a wheelchair 920 is included inside the protected space 130, the autonomous moving body 100 cannot move from the nurse station NS to another destination, such as a hospital room.

[0051] Therefore, in order to release such a suspension of movement, the autonomous mobile body 100 of this embodiment changes the range of the defendable space 130 based on the classification result of the obstacle. Specifically, the setting unit 114 changes the range of the defendable space 130 based on the obstacle classified by the classification unit 116. Figures 9 to 13 are diagrams illustrating examples of the range of the defendable space 130 changed by the setting unit 114 of the autonomous mobile system 1 according to embodiment 1.

[0052] As shown in FIG. 9 , for example, if the classification unit 116 classifies the obstacle as a wall 910, the setting unit 114 excludes the wall 910 of the defense space 130 from the defense space 130. Specifically, the setting unit 114 excludes the wall 910 from the defense space 130 set around the autonomous moving body 100 by masking it. As a result, a cylindrical portion of the defense space 130 with an arc-shaped cross section that overlaps the wall 910 is excluded. Therefore, since the obstacle can be excluded from the inside of the defense space 130, the control unit 111 can move the autonomous moving body 100. For example, the control unit 111 can launch the autonomous moving body 100.

[0053] The setting unit 114 may set the portion excluded from the defended space 130 as a movement-prohibited space. The movement-prohibited space may be a space in which movement of the autonomous moving body 100 is prohibited. The control unit 111 controls the autonomous moving body 100 so that it does not enter the movement-prohibited space. This allows the autonomous moving body 100 to prevent collision with the wall 910.

[0054] 10 , when the classification unit 116 classifies the obstacle as a wheelchair 920, the setting unit 114 reduces the width of the defense space 130 on the wheelchair 920 side and increases the width of the defense space 130 on the opposite side from the wheelchair 920. Specifically, when the wheelchair 920 is located on the −X-axis direction side as viewed from the autonomous mobile body 100, the setting unit 114 reduces the width of the defense space 130 on the −X-axis direction side of the autonomous mobile body 100. On the other hand, the setting unit 114 increases the width of the defense space 130 on the +X-axis direction side of the autonomous mobile body 100.

[0055] By reducing the width of the protected space 130 on the wheelchair 920 side, when the wheelchair 920 moves, it is possible for the wheelchair 920 to quickly exit the protected space 130. Furthermore, when the wheelchair 920 exits the protected space 130, the autonomous moving body 100 turns or moves backward to move away from the wheelchair 920. Therefore, by increasing the width of the protected space 130 on the side opposite the wheelchair 920, safety on the side opposite the wheelchair 920 is ensured.

[0056] When reducing the width of the protected space 130 on the wheelchair 920 side, it may be reduced until the wheelchair 920 leaves the protected space 130. This allows the autonomous moving body 100 to turn or move backward to move away from the wheelchair 920.

[0057] 11 , if the classification unit 116 classifies the obstacle as a wheelchair 920 that has been stopped for a predetermined period of time as a result of detection by the detection unit 115, the setting unit 114 may exclude the portion of the defendable space 130 that includes the wheelchair 920 from the defendable space 130. Also, if the classification unit 116 classifies the obstacle as a wheelchair 920 that includes a person 940, the setting unit 114 may exclude the portion of the defendable space 130 that includes the wheelchair 920 from the defendable space 130.

[0058] In such a case, the setting unit 114 excludes the portion of the wheelchair 920 from the defense space 130 set around the autonomous moving body 100 by masking it. As a result, the rectangular parallelepiped portion of the defense space 130 that overlaps with the wheelchair 920 is excluded. Therefore, obstacles can be excluded from the inside of the defense space 130, and the control unit 111 can move the autonomous moving body 100. The setting unit 114 may set the portion excluded from the defense space 130 as a movement-prohibited space.

[0059] In particular, when the classification unit 116 classifies the obstacle as a wheelchair 920 carrying a person 940, the control unit 111 moves the autonomous moving body 100 away from the wheelchair 920. Alternatively, the setting unit 114 excludes the portion of the defendable space 130 in which the wheelchair 920 is located from the defendable space 130, and then the control unit 111 moves the autonomous moving body 100 away from the wheelchair 920. This makes it possible to prevent the autonomous moving body 100 from colliding with the wheelchair 920 even when the wheelchair 920 carrying the person 940 moves.

[0060] 12 , when the classification unit 116 classifies the obstacle as a stretcher 930, the setting unit 114 enlarges the defense space 130. Specifically, for example, the setting unit 114 expands the defense space 130 set around the autonomous moving body 100 by a predetermined width in a predetermined direction. For example, the setting unit 114 expands the defense space 130 to include a space through which the stretcher 930 passes in the direction in which the stretcher 930 travels. At this time, the setting unit 114 may exclude a portion of the wall 910 of the defense space 130 and a portion of the wheelchair 920 from the defense space 130.

[0061] The movement of the stretcher 930 may involve an emergency. Therefore, the movement speed of the stretcher 930 is fast. Furthermore, the stretcher 930 may be accompanied by various pieces of equipment and a person 940 performing treatment. For this reason, it is desirable to have ample space between the autonomous moving body 100 and the stretcher 930.

[0062] When the classification unit 116 classifies the obstacle as a stretcher 930, the setting unit 114 increases the size of the protected space 130, thereby preventing collisions with the stretcher 930. In this case, it is desirable for the control unit 111 to cause the autonomous moving body 100 to move out of the space through which the stretcher 930 passes in the direction in which the stretcher 930 is traveling. This makes it possible to further prevent collisions with the stretcher 930.

[0063] There are cases where an obstacle around the autonomous moving body 100 detected by the detection unit 115 mounted on the autonomous moving body 100 is different from an obstacle around the autonomous moving body 100 detected by the detection unit 950 installed in the facility space 900. For example, the detection unit 115 may detect an obstacle in a blind spot of the detection unit 950. Furthermore, the detection unit 950 may detect an obstacle in a blind spot of the detection unit 115.

[0064] 9, the detection unit 115 detects a wall 910 as an obstacle. If the classification unit 116 classifies the obstacle as a wall 910, the setting unit 114 excludes the portion of the wall 910 in the defense space 130 from the defense space 130. In this way, the setting unit 114 changes the defense space 130 to the first range.

[0065] However, the detection unit 115 may not be able to detect whether the wheelchair 920 has been stopped for a predetermined period of time. Furthermore, the detection unit 115 may not be able to detect whether a person is riding in the wheelchair 920 because the wheelchair 920 is facing the opposite direction. Therefore, the classification unit 116 classifies the obstacles around the autonomous moving body 100 using information about the obstacles detected by the detection unit 950. Then, the setting unit 114 further changes the range of the defendable space 130 based on the obstacles classified by the classification unit 116. For example, as shown in FIG. 13 , the detection unit 950 detects a wheelchair 920 that has been stopped for a predetermined period of time as an obstacle around the autonomous moving body 100. If the classification unit 116 classifies the obstacle as a wheelchair 920 that has been stopped for a predetermined period of time, the setting unit 114 excludes the portion of the defendable space 130 where the wheelchair 920 is located from the defendable space 130. Therefore, the setting unit 114 changes the range of the defendable space 130 from the first range to the second range.

[0066] In this way, the setting unit 114 sets the defensive space 130 to the first range based on the obstacle detected by the detection unit 115, and then changes the defensive space 130 from the first range to the second range based on the obstacle detected by the detection unit 950. Note that the setting unit 114 may set the defensive space 130 to the first range based on the obstacle detected by the detection unit 950, and then change the defensive space 130 from the first range to the second range based on the obstacle detected by the detection unit 115. Note that the setting unit 114 may set the defensive space 130 to the first range based on the obstacle detected by the detection unit 115, and then change the defensive space 130 from the first range to the second range based on the obstacle detected by the detection unit 115 and the obstacle detected by the detection unit 950. Furthermore, after setting the defense space 130 to a first range based on an obstacle detected by the detection unit 950, the setting unit 114 may change the defense space 130 from the first range to a second range based on an obstacle detected by the detection unit 115 and an obstacle detected by the detection unit 950.

[0067] Therefore, the setting unit 114 changes the range of the defendable space to a first range based on the classification result of the classification unit 116 of an obstacle detected by one of the detection unit 115 and the detection unit 950, and changes the range of the defendable space from the first range to a second range based on the classification result of the classification unit 116 of an obstacle detected by at least the other of the detection unit 115 and the detection unit 950. In this way, the setting unit 114 can perform sensor fusion and classification by changing the defendable space 130 from the first range to the second range based on the obstacle detected by the detection unit 115 and the obstacle detected by the detection unit 950. Therefore, the setting unit 114 can make the changed second range a more appropriate range. The control unit 111 stops the movement of the autonomous moving body 100 when an obstacle is present in the first range or the second range of the defendable space 130.

[0068] 6, the management device 200 includes a control unit 211, a storage unit 212, and a communication unit 213. The control unit 211 may control the autonomous moving body 100 in the same manner as the control unit 111. The control unit 211 may also control the movement of multiple autonomous moving bodies 100.

[0069] The control unit 211 has a function capable of executing a program, such as a CPU of a computer, etc. The functions of each unit of the autonomous moving body 100 can also be realized by a program.

[0070] The storage unit 212, like the storage unit 112, stores various data for the movement of the autonomous mobile body 100. The storage unit 212 stores, for example, data such as the destination of an object input by the user U. The communication unit 213 acquires data such as images and videos from the detection unit 950. The communication unit 213 also transmits and receives various data between the user terminal 820 and the autonomous mobile body 100.

[0071] Next, the drive unit 117, the display unit 118, and the operation reception unit 119 will be described with reference to the drawings. Fig. 14 is a schematic diagram illustrating an example of an autonomous mobile body 100 in the autonomous mobile system 1 according to the first embodiment. The autonomous mobile body 100 shown in Fig. 14 is one aspect of the autonomous mobile body 100, and other aspects may also be used. Note that Fig. 14 shows the autonomous mobile body 100 when the forward direction of the autonomous mobile body 100 is in the +X-axis direction and the backward direction is in the -X-axis direction. In this case, the Y-axis direction is the left-right direction of the autonomous mobile body 100, and the Z-direction is the height direction of the autonomous mobile body 100.

[0072] The autonomous moving body 100 includes a main body unit 190 and a carriage unit 160. The main body unit 190 is mounted on the carriage unit 160. The main body unit 190 and the carriage unit 160 each have a rectangular parallelepiped housing, and each component is mounted inside this housing. For example, the carriage unit 160 houses a drive unit 117 inside.

[0073] The main body 190 is provided with a storage cabinet 191 that serves as a storage space, and a door 192 that seals the storage cabinet 191. The storage cabinet 191 is provided with multiple shelves, and the availability status is managed for each shelf. For example, the availability status can be updated by arranging various sensors such as weight sensors on each shelf. The autonomous mobile body 100 transports the items stored in the storage cabinet 191 by autonomous movement to a destination specified by the management device 200. The main body 190 may be equipped with a control box or the like (not shown) within its housing. The door 192 may also be lockable with an electronic key or the like. Upon arrival at the destination, the user U unlocks the door 192 with the electronic key. Alternatively, the door 192 may be unlocked automatically upon arrival at the destination.

[0074] 14 , a sensor group including a front-rear distance sensor 141 and a left-right distance sensor 142 is provided on the exterior of the autonomous mobile body 100. The autonomous mobile body 100 measures the distance to a surrounding object in the front-rear direction of the autonomous mobile body 100 using the front-rear distance sensor 141. As a result, the detection unit 115 detects surrounding obstacles in the front-rear direction of the autonomous mobile body 100. Furthermore, the autonomous mobile body 100 measures the distance to a surrounding object in the left-right direction of the autonomous mobile body 100 using the left-right distance sensor 142. As a result, the detection unit 115 detects surrounding obstacles in the left-right direction of the autonomous mobile body 100.

[0075] For example, the front-rear distance sensors 141 are arranged on the front and rear surfaces of the housing of the main body 190. The left-right distance sensors 142 are arranged on the left and right surfaces of the housing of the main body 190. The front-rear distance sensors 141 and the left-right distance sensors 142 are, for example, ultrasonic distance sensors or laser range finders.

[0076] The drive unit 117 is provided with drive wheels 161 and casters 162. The drive wheels 161 are wheels for moving the autonomous mobile body 100 forward, backward, left, and right. The casters 162 are driven wheels that do not receive driving force and roll following the drive wheels 161. The drive unit 117 has a drive motor (not shown) and drives the drive wheels 161.

[0077] For example, the drive unit 117 supports, within the housing, two drive wheels 161 and two casters 162, each of which comes into contact with the traveling surface. The two drive wheels 161 are arranged so that their rotation axes coincide with each other. Each drive wheel 161 is independently driven and rotated by a motor (not shown). The casters 162 are driven wheels that follow the direction of movement of the drive unit 117.

[0078] For example, if the two drive wheels 161 are rotated in the same direction at the same rotational speed, the autonomous mobile body 100 moves straight, and if they are rotated in opposite directions at the same rotational speed, the autonomous mobile body 100 turns around a vertical axis passing through approximately the center of the two drive wheels 161. Furthermore, by rotating the two drive wheels 161 in the same direction at different rotational speeds, the autonomous mobile body 100 can move while turning left or right. For example, by making the rotational speed of the left drive wheel 161 higher than the rotational speed of the right drive wheel 161, the autonomous mobile body 100 can turn right. Conversely, by making the rotational speed of the right drive wheel 161 higher than the rotational speed of the left drive wheel 161, the autonomous mobile body 100 can translate, turn right or left in any direction, etc., by controlling the rotational direction and rotational speed of the two drive wheels 161, respectively.

[0079] In the autonomous moving body 100, a display unit 118 and an operation reception unit 119 are provided on the top surface of the main body unit 190. The operation reception unit 119 is displayed on the display unit 118. When the user touches the operation reception unit 119 displayed on the display unit 118, the operation reception unit 119 can receive instructions input from the user. In addition, an emergency stop button 182 may be provided on the top surface of the display unit 118.

[0080] The display unit 118 is, for example, a liquid crystal panel, and displays an illustration of a character's face or presents information about the autonomous moving body 100 as text or icons. Displaying a character's face on the display unit 118 can give surrounding observers the impression that the display unit 118 is a pseudo-face. The display unit 118 or the like mounted on the autonomous moving body 100 can also be used as the user terminal 820.

[0081] A camera 125 is installed on the front of the main body 190. Here, the two cameras 125 function as a stereo camera. That is, the two cameras 125 have the same angle of view and are arranged horizontally spaced apart from each other. Images captured by each camera 125 are output as image data. Based on the image data from the two cameras 125, it is possible to calculate the distance to the subject and the size of the subject. The classification unit 116 can classify obstacles by analyzing information from the sensor group and images from the cameras 125. If there are people or obstacles ahead in the traveling direction, the autonomous moving body 100 moves along the route while avoiding them. In addition, the image data from the cameras 125 may be transmitted to the management device 200.

[0082] Next, a description will be given of an autonomous movement method of the autonomous moving body 100. Fig. 15 is a flowchart illustrating an example of the autonomous movement method of the autonomous moving body 100 according to the first embodiment.

[0083] 15, a predetermined defense space 130 is set around the autonomous moving body 100. Specifically, the setting unit 114 sets a predetermined defense space 130, such as a cylindrical or rectangular parallelepiped shape, around the autonomous moving body 100.

[0084] Next, as shown in step S12, the detection unit 115 mounted on the autonomous mobile body 100 is caused to detect obstacles around the autonomous mobile body 100. Furthermore, as shown in step S13, the detection unit 950, such as a facility camera, is caused to detect obstacles around the autonomous mobile body 100. Note that the detection ranges of the detection units 115 and 950 may extend to the periphery of the autonomous mobile body 100, i.e., outside the protected space 130.

[0085] Next, as shown in step S14, the detected obstacles are classified. Specifically, the detected obstacles are classified by the classification unit 116. The classification unit 116 may classify the obstacles by using an algorithm that has been machine-learned using the obstacles as learning data.

[0086] Next, as shown in step S15, the range of the defendable space 130 is changed to a first range based on the result of classifying the obstacle detected by one of the detection unit 115 and the detection unit 950. For example, the range of the defendable space 130 is changed to the first range based on the result of classifying the obstacle detected by the detection unit 115 mounted on the autonomous moving body 100. Specifically, if the classification unit 116 classifies the obstacle detected by the detection unit 115 as a wall 910, the setting unit 114 excludes the wall 910 portion of the defendable space 130 from the defendable space 130.

[0087] Next, as shown in step S16, it is determined whether or not there is an obstacle inside the defense space 130. Specifically, the control unit 111 is made to make the determination. Note that the control unit 111 may also predict whether or not an obstacle will enter the defense space 130. If there is no obstacle inside the defense space 130 in step S16 (NO in step S16), the autonomous mobile body 100 is moved as shown in step S20. Then, the process proceeds to step S21.

[0088] On the other hand, if step S16 determines that there is an obstacle within the defense space 130 or that an obstacle is predicted to enter the defense space 130 (YES in step S16), then as shown in step S17, the range of the defense space 130 is changed from the first range to the second range based on the classification of the obstacle detected by at least the other of the detection unit 115 and the detection unit 950. For example, the range of the defense space 130 is changed from the first range to the second range based on the classification of the obstacle detected by the detection unit 950 installed in the facility space 900. Specifically, if the classification unit 116 classifies the obstacle detected by the detection unit 950 as a wheelchair 920 that has been stopped for a predetermined time, the setting unit 114 excludes the portion of the defense space 130 containing the wheelchair 920 from the defense space 130.

[0089] Next, as shown in step S18, it is determined whether or not there is an obstacle inside the defense space 130. Note that the control unit 111 may also predict whether or not an obstacle will enter the defense space 130. If, in step S18, there is no obstacle inside the defense space 130 (NO in step S18), the autonomous moving body 100 is moved as shown in step S20. Then, the process proceeds to step S21.

[0090] On the other hand, in step S18, if there is an obstacle inside the defense space 130 or if it is predicted that an obstacle will enter the defense space 130 (YES in step S18), control of the movement of the autonomous moving body 100, including collision control, is executed as shown in step S19. The movement of the autonomous moving body 100 includes the launch of the autonomous moving body 100, and the control unit 111 may stop the launch of the autonomous moving body 100 based on the classified obstacle. Then, the process proceeds to step S21.

[0091] Next, as shown in step S21, the control unit 111 determines whether to end the process. If the process is not to be ended because a task such as transporting an item has not been completed or a predetermined time has not elapsed (NO in step S21), the process returns to step S12 and step S13, and steps S12 to S21 are repeated.

[0092] On the other hand, in step S21, if the processing is to be ended due to the completion of a task such as transporting an item, or the passage of a predetermined time (YES in step S21), the processing is ended.

[0093] The autonomous moving method of this embodiment may be performed by the autonomous moving body 100 alone, or may be performed by the management device 200. Furthermore, the autonomous moving body 100 and the management device 200 may cooperate to execute the autonomous moving method.

[0094] Next, the effects of this embodiment will be described. The autonomous mobile system 1 of this embodiment detects obstacles around the autonomous mobile body 100 and classifies the detected obstacles. The autonomous mobile system 1 then changes the range of the defense space 130 based on the classified obstacles. Therefore, even if an obstacle is present in the defense space 130 of the autonomous mobile body 100, the autonomous mobile system 1 can exclude the obstacle from the defense space 130 by changing the range of the defense space 130 based on the obstacle. This allows the autonomous mobile body 100 to move. In this way, the autonomous mobile system 1 can change its operation depending on the situation around the autonomous mobile body 100, allowing the autonomous mobile body 100 to move safely.

[0095] The setting unit 114 changes the range of the defense space 130 to a first range based on the result of classifying an obstacle detected by one of the detection unit 115 and the detection unit 950. If an obstacle still exists inside the defense space 130, the setting unit 114 changes the range of the defense space 130 from the first range to a second range based on the result of classifying an obstacle detected by the other of the detection unit 115 and the detection unit 950. Therefore, even if the control unit 111 stops the autonomous moving body 100 based on an obstacle detected by one of the detection unit 115 and the detection unit 950, if the control unit 111 changes the range of the defense space 130 based on an obstacle detected by the other detection unit, and the obstacle can be removed from inside the defense space 130, the control unit 111 can move the autonomous moving body 100. Therefore, the autonomous moving body 100 can closely respond to the situation around the autonomous moving body 100, and can move the autonomous moving body 100 safely. Furthermore, the detection results using the detection unit 115 mounted on the autonomous moving body 100 can be updated or corrected based on the detection results using a detection unit 950 such as an infrastructure camera installed in the facility space 900 with a different viewpoint, etc., thereby improving the accuracy of obstacle detection. Alternatively, the same effect can be obtained by updating or correcting the detection results using the detection unit 950 based on the detection results using the detection unit 115.

[0096] The movement of the autonomous mobile body 100 may include the departure of the autonomous mobile body 100. Therefore, the autonomous mobile system 1 can safely depart the autonomous mobile body 100 depending on the situation around the autonomous mobile body 100.

[0097] The obstacles may be classified by using a machine learning algorithm, which can improve the accuracy of the obstacle classification.

[0098] By determining the behavior of the autonomous moving body 100 when the classification unit 116 classifies an obstacle into a wall 910, a wheelchair 920, and a stretcher 930, the behavior can be changed depending on the situation. Therefore, the autonomous moving body 100 can be moved safely.

[0099] (Variation) Next, a modified example will be described. In the above-described first embodiment, the setting unit 114 changes the range of the defendable space 130 to a first range based on the results of classifying an obstacle detected by one of the detection units 115 and 950, and changes the range of the defendable space 130 from the first range to a second range based on the results of classifying an obstacle detected by the other detection unit. In this modified example, when changing the range of the defendable space 130 from the first range to the second range based on the results of classifying an obstacle detected by the other detection unit, the setting unit 114 uses the results of sensor fusion of the results of one detection unit with the results of the other detection unit. In other words, the results of classifying an obstacle detected by the other detection unit include the results of sensor fusion of the results of one detection unit with the results of the other detection unit. In this way, sensor fusion of the results of one detection unit with the results of the other detection unit can improve the accuracy of obstacle classification compared to when only one detection unit is used, and the second range can be set as a range corresponding to the obstacle.

[0100] (Embodiment 2) Next, a description will be given of an autonomous mobile system according to embodiment 2. The autonomous mobile system of this embodiment uses map information of the facility space 900.

[0101] The storage unit 112 stores map information of the facility space 900. The map information includes, for example, a floor map of the facility space 900. The floor map may be created in advance, may be generated from information obtained from the autonomous mobile body 100, or may be a basic floor map created in advance with information obtained from the autonomous mobile body 100 added. The floor map includes information on the positions and arrangements of the walls 910, gates, doors, stairs, elevators, fixed shelves, etc. of the facility space 900. The floor map may be expressed as a two-dimensional grid map. In this case, information on the walls 910, doors, etc. is linked to each grid on the floor map.

[0102] The setting unit 114 may change the range of the defendable space 130 based on the map information acquired from the memory unit 112. When the setting unit 114 acquires map information of the wall 910 from the memory unit 112, the setting unit 114 excludes the portion of the wall 910 in the acquired map information from the defendable space 130. By acquiring obstacles in the facility space 900 from the memory unit 112 in this way, it is possible to omit detection by the detection unit 115 and classification by the classification unit 116, thereby enabling smooth movement of the autonomous mobile body 100.

[0103] Furthermore, the classification unit 116 may classify obstacles based on map information acquired from the storage unit 112. When the classification unit 116 acquires map information of the wall 910 from the storage unit 112, the classification unit 116 compares the position of the detected obstacle with the position of the wall 910 in the map information. If the two match, the classification unit 116 classifies the obstacle as a wall 910. In this way, by acquiring map information of the equipment space 900 from the storage unit 112, the accuracy of obstacle classification can be improved.

[0104] The map information may be stored not only in the storage unit 112 of the autonomous moving body 100 but also in the storage unit 212 of the management device 200. The setting unit 114 and the classification unit 116 may acquire the map information from the storage unit 212 of the management device 200.

[0105] Although the embodiments of the present disclosure have been described above, the present disclosure includes appropriate modifications that do not impair the objects and advantages thereof, and is not limited to the above-described embodiments. Furthermore, a combination of the configurations of Embodiments 1 and 2 is also included within the scope of the technical concept of the present embodiments. Furthermore, the autonomous movement method described below and the autonomous movement program described below for causing a computer to execute the autonomous movement method are also included within the scope of the technical concept of the present embodiments.

[0106] Some or all of the processes of the management device 200 or the autonomous mobile body 100 described above can be implemented as a computer program. Such a program can be stored in various types of non-transitory computer-readable media and provided to a computer. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be provided to a computer by various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable media can provide the program to a computer via wired communication paths such as electric wires and optical fibers, or via wireless communication paths.

[0107] (Appendix 1) An autonomous movement method for an autonomous moving body that moves autonomously, comprising: a step of setting a predetermined defensive space around the autonomous moving body, the defensive space being used to perform at least one of a control to avoid a collision between the autonomous moving body and an obstacle and a control to reduce damage at the time of a collision; A step of classifying obstacles around the autonomous moving body detected by a first detection unit mounted on the autonomous moving body and obstacles around the autonomous moving body detected by a second detection unit installed in a facility space in which the autonomous moving body moves; changing the range of the defense space to a first range based on a result of classifying the obstacle detected by one of the first detection unit and the second detection unit; changing the range of the defendable space from the first range to a second range based on a result of classifying the obstacle detected by at least the other of the first detection unit and the second detection unit; executing control of the movement of the autonomous moving body, including the collision control, when the obstacle is present inside the defendable space and / or when the obstacle is predicted to enter the defendable space; An autonomous movement method comprising: (Appendix 2) the movement of the autonomous moving body includes a departure of the autonomous moving body, In the step of stopping the movement of the autonomous moving body, stopping the departure of the autonomous moving body based on the classified obstacle; 2. The autonomous movement method according to claim 1. (Appendix 3) In the step of stopping the movement of the autonomous moving body, stopping the movement of the autonomous moving body when the obstacle is present in the first range and the second range; 2. The autonomous movement method according to claim 1. (Appendix 4) In the step of classifying the detected obstacle, classifying the detected obstacles by using an algorithm that has been machine-learned using the obstacles as learning data; 2. The autonomous movement method according to claim 1. (Appendix 5) In the step of classifying the detected obstacle, If the obstacle is classified as a wall, In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, excluding a portion of the wall of the defendable space from the defendable space; 2. The autonomous movement method according to claim 1. (Appendix 6) In the step of classifying the detected obstacle, If the obstacle is classified as a wheelchair: In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, The width of the protective space on the wheelchair side is reduced, and the width of the protective space on the opposite side of the wheelchair is increased. 2. The autonomous movement method according to claim 1. (Appendix 7) In the step of classifying the detected obstacle, If the obstacle is classified as a wheelchair that has been stationary for a predetermined period of time, In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, excluding the wheelchair portion of the defendable space from the defendable space; 7. The autonomous movement method according to claim 6. (Appendix 8) In the step of classifying the detected obstacle, If the obstacle is classified as an occupied wheelchair, The method further comprises a step of moving the autonomous moving body away from the wheelchair. 7. The autonomous movement method according to claim 6. (Appendix 9) In the step of classifying the detected obstacle, If the obstacle is classified as a stretcher: In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, Enlarging the protective space, The method further includes a step of causing the autonomous moving body to exit a space through which the stretcher passes in a direction in which the stretcher travels. 2. The autonomous movement method according to claim 1. (Appendix 10) further comprising a step of storing map information of an equipment space in which the autonomous moving body moves, In the step of classifying the detected obstacle, classifying the obstacles based on the map information; 2. The autonomous movement method according to claim 1. (Appendix 11) An autonomous movement program for an autonomous moving body that moves autonomously, a step of setting a predetermined defensive space around the autonomous moving body, the defensive space being used to perform at least one of a control to avoid a collision between the autonomous moving body and an obstacle and a control to reduce damage at the time of a collision; A step of classifying obstacles around the autonomous moving body detected by a first detection unit mounted on the autonomous moving body and obstacles around the autonomous moving body detected by a second detection unit installed in a facility space in which the autonomous moving body moves; changing the range of the defense space to a first range based on a result of classifying the obstacle detected by one of the first detection unit and the second detection unit; changing the range of the defendable space from the first range to a second range based on a result of classifying the obstacle detected by at least the other of the first detection unit and the second detection unit; executing control of the movement of the autonomous moving body, including the collision control, when the obstacle is present inside the defendable space and / or when the obstacle is predicted to enter the defendable space; An autonomous movement program that causes a computer to execute the above. (Appendix 12) the movement of the autonomous moving body includes a departure of the autonomous moving body, In the step of stopping the movement of the autonomous moving body, stopping the departure of the autonomous moving body based on the classified obstacle; 12. The autonomous movement program according to claim 11, which causes a computer to execute the above steps. (Appendix 13) In the step of stopping the movement of the autonomous moving body, stopping the movement of the autonomous moving body when the obstacle is present in the first range and the second range; 12. The autonomous movement program according to claim 11, which causes a computer to execute the above steps. (Appendix 14) In the step of classifying the detected obstacle, classifying the detected obstacles by using an algorithm that has been machine-learned using the obstacles as learning data; 12. The autonomous movement program according to claim 11, which causes a computer to execute the above steps. (Appendix 15) In the step of classifying the detected obstacle, If the obstacle is classified as a wall, In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, excluding a portion of the wall of the defendable space from the defendable space; 12. The autonomous movement program according to claim 11, which causes a computer to execute the above steps. (Appendix 16) In the step of classifying the detected obstacle, If the obstacle is classified as a wheelchair: In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, The width of the protective space on the wheelchair side is reduced, and the width of the protective space on the opposite side of the wheelchair is increased. 12. The autonomous movement program according to claim 11, which causes a computer to execute the above steps. (Appendix 17) In the step of classifying the detected obstacle, If the obstacle is classified as a wheelchair that has been stationary for a predetermined period of time, In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, excluding the wheelchair portion of the defendable space from the defendable space; 17. The autonomous movement program according to claim 16, which causes a computer to execute the above steps. (Appendix 18) In the step of classifying the detected obstacle, If the obstacle is classified as an occupied wheelchair, The method further comprises a step of moving the autonomous moving body away from the wheelchair. 17. The autonomous movement program according to claim 16. (Appendix 19) In the step of classifying the detected obstacle, If the obstacle is classified as a stretcher: In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, Enlarging the protective space, The method further includes a step of causing the autonomous moving body to exit a space through which the stretcher passes in a direction in which the stretcher travels. 12. The autonomous movement program according to claim 11. (Appendix 20) further comprising a step of storing map information of an equipment space in which the autonomous moving body moves, In the step of classifying the detected obstacle, classifying the obstacles based on the map information; 12. The autonomous movement program according to claim 11, which causes a computer to execute the above steps. [Explanation of symbols]

[0108] 1. 1a Autonomous Mobile System 100, 100a Autonomous mobile body 111 Control Unit 112 Storage section 113 Communications Department 114 Settings 115 Detection unit 116 Classification Department 117 Drive Unit 118 Display section 119 Operation reception section 125 Camera 130 Defensive space 141 Front and rear distance sensor 142 Left and right distance sensors 160 Bogie section 161 Drive wheels 162 Caster 182 Emergency stop button 190 Main body 191 Storage 192 Doors 200 Management device 211 Control Unit 212 Storage section 213 Communications Department 800 Network 810 Communication Unit 820 User Terminal 900 Equipment space 910 Wall 920 Wheelchair 930 Stretcher 940 people 950 Detection unit

Claims

1. An autonomous mobile system including an autonomous mobile object that moves autonomously, a control unit that executes control of movement of the autonomous moving body, including at least one of control to avoid a collision between the autonomous moving body and an obstacle and control to reduce damage at the time of a collision; a setting unit that sets a predetermined defensive space around the autonomous moving body, the defensive space being used for executing the collision control by the control unit; a classification unit that classifies the obstacles detected by a first detection unit that is mounted on the autonomous moving body and detects obstacles around the autonomous moving body, and the obstacles detected by a second detection unit that is installed in a facility space in which the autonomous moving body moves and detects obstacles around the autonomous moving body; Equipped with The setting unit changing the range of the defense space to a first range based on the classification result of the classification unit of the obstacle detected by one of the first detection unit and the second detection unit; changing the range of the defendable space from the first range to a second range based on the classification result of the classification unit of the obstacle detected by at least the other of the first detection unit and the second detection unit; the control unit executes control of the movement of the autonomous moving body, including the collision control, when at least one of the obstacle is present inside the defendable space and the obstacle is predicted to enter the defendable space; If the classification unit classifies the obstacle as a wall, The setting unit excludes a portion of the wall of the defense space from the defense space. Autonomous mobility system.

2. An autonomous mobile system including an autonomous mobile object that moves autonomously, a control unit that executes control of movement of the autonomous moving body, including at least one of control to avoid a collision between the autonomous moving body and an obstacle and control to reduce damage at the time of a collision; a setting unit that sets a predetermined defensive space around the autonomous moving body, the defensive space being used for executing the collision control by the control unit; a classification unit that classifies the obstacles detected by a first detection unit that is mounted on the autonomous moving body and detects obstacles around the autonomous moving body, and the obstacles detected by a second detection unit that is installed in a facility space in which the autonomous moving body moves and detects obstacles around the autonomous moving body; Equipped with The setting unit changing the range of the defense space to a first range based on the classification result of the classification unit of the obstacle detected by one of the first detection unit and the second detection unit; changing the range of the defendable space from the first range to a second range based on the classification result of the classification unit of the obstacle detected by at least the other of the first detection unit and the second detection unit; the control unit executes control of the movement of the autonomous moving body, including the collision control, when at least one of the obstacle is present inside the defendable space and the obstacle is predicted to enter the defendable space; If the classification unit classifies the obstacle as a wheelchair, The setting unit reduces the width of the protection space on the wheelchair side and increases the width of the protection space on the opposite side to the wheelchair. Autonomous mobility system.

3. When the classification unit classifies the obstacle as the wheelchair that has been stopped for a predetermined time, The setting unit excludes a portion of the protective space where the wheelchair is located from the protective space. The autonomous mobile system according to claim 2 .

4. When the classification unit classifies the obstacle as the wheelchair in which a person is riding, the control unit causes the autonomous moving body to move away from the wheelchair. The autonomous mobile system according to claim 2 .

5. An autonomous mobile system including an autonomous mobile object that moves autonomously, a control unit that executes control of movement of the autonomous moving body, including at least one of control to avoid a collision between the autonomous moving body and an obstacle and control to reduce damage at the time of a collision; a setting unit that sets a predetermined defensive space around the autonomous moving body, the defensive space being used for executing the collision control by the control unit; a classification unit that classifies the obstacles detected by a first detection unit that is mounted on the autonomous moving body and detects obstacles around the autonomous moving body, and the obstacles detected by a second detection unit that is installed in a facility space in which the autonomous moving body moves and detects obstacles around the autonomous moving body; Equipped with The setting unit changing the range of the defense space to a first range based on the classification result of the classification unit of the obstacle detected by one of the first detection unit and the second detection unit; changing the range of the defendable space from the first range to a second range based on the classification result of the classification unit of the obstacle detected by at least the other of the first detection unit and the second detection unit; the control unit executes control of the movement of the autonomous moving body, including the collision control, when at least one of the obstacle is present inside the defendable space and the obstacle is predicted to enter the defendable space; If the classification unit classifies the obstacle as a stretcher, The setting portion enlarges the protection space, the control unit causes the autonomous moving body to exit a space through which the stretcher passes in a direction in which the stretcher travels. Autonomous mobility system.

6. An autonomous movement method for an autonomous moving body that moves autonomously, comprising: a step of setting a predetermined defensive space around the autonomous moving body, the defensive space being used to perform at least one of a control to avoid a collision between the autonomous moving body and an obstacle and a control to reduce damage at the time of a collision; a step of classifying obstacles around the autonomous moving body detected by a first detection unit mounted on the autonomous moving body and obstacles around the autonomous moving body detected by a second detection unit installed in a facility space in which the autonomous moving body moves; changing the range of the defense space to a first range based on a result of classifying the obstacle detected by one of the first detection unit and the second detection unit; changing the range of the defendable space from the first range to a second range based on a result of classifying the obstacle detected by at least the other of the first detection unit and the second detection unit; executing control of the movement of the autonomous moving body, including the collision control, when the obstacle is present inside the defendable space and / or when the obstacle is predicted to enter the defendable space; Equipped with In the step of classifying the detected obstacle, If the obstacle is classified as a wall, In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, excluding a portion of the wall of the defendable space from the defendable space; Autonomous movement method.

7. An autonomous movement method for an autonomous moving body that moves autonomously, comprising: a step of setting a predetermined defensive space around the autonomous moving body, the defensive space being used to perform at least one of a control to avoid a collision between the autonomous moving body and an obstacle and a control to reduce damage at the time of a collision; a step of classifying obstacles around the autonomous moving body detected by a first detection unit mounted on the autonomous moving body and obstacles around the autonomous moving body detected by a second detection unit installed in a facility space in which the autonomous moving body moves; changing the range of the defense space to a first range based on a result of classifying the obstacle detected by one of the first detection unit and the second detection unit; changing the range of the defense space from the first range to a second range based on a result of classifying the obstacle detected by at least the other of the first detection unit and the second detection unit; executing control of the movement of the autonomous moving body, including the collision control, when the obstacle is present inside the defendable space and / or when the obstacle is predicted to enter the defendable space; Equipped with In the step of classifying the detected obstacle, If the obstacle is classified as a wheelchair: In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, The width of the protective space on the wheelchair side is reduced, and the width of the protective space on the opposite side of the wheelchair is increased. Autonomous movement method.

8. In the step of classifying the detected obstacle, If the obstacle is classified as a wheelchair that has been stationary for a predetermined period of time, In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, excluding the wheelchair portion of the defendable space from the defendable space; The autonomous movement method according to claim 7 .

9. In the step of classifying the detected obstacle, If the obstacle is classified as an occupied wheelchair, The method further comprises a step of moving the autonomous moving body away from the wheelchair. The autonomous movement method according to claim 7 .

10. An autonomous movement method for an autonomous moving body that moves autonomously, comprising: a step of setting a predetermined defensive space around the autonomous moving body, the defensive space being used to perform at least one of a control to avoid a collision between the autonomous moving body and an obstacle and a control to reduce damage at the time of a collision; a step of classifying obstacles around the autonomous moving body detected by a first detection unit mounted on the autonomous moving body and obstacles around the autonomous moving body detected by a second detection unit installed in a facility space in which the autonomous moving body moves; changing the range of the defense space to a first range based on a result of classifying the obstacle detected by one of the first detection unit and the second detection unit; changing the range of the defense space from the first range to a second range based on a result of classifying the obstacle detected by at least the other of the first detection unit and the second detection unit; executing control of the movement of the autonomous moving body, including the collision control, when the obstacle is present inside the defendable space and / or when the obstacle is predicted to enter the defendable space; Equipped with In the step of classifying the detected obstacle, If the obstacle is classified as a stretcher: In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, Enlarging the protective space, The method further includes a step of causing the autonomous moving body to exit a space through which the stretcher passes in a direction in which the stretcher travels. Autonomous movement method.

11. An autonomous movement program for an autonomous moving body that moves autonomously, a step of setting a predetermined defensive space around the autonomous moving body, the defensive space being used to perform at least one of a control to avoid a collision between the autonomous moving body and an obstacle and a control to reduce damage at the time of a collision; a step of classifying obstacles around the autonomous moving body detected by a first detection unit mounted on the autonomous moving body and obstacles around the autonomous moving body detected by a second detection unit installed in a facility space in which the autonomous moving body moves; changing the range of the defense space to a first range based on a result of classifying the obstacle detected by one of the first detection unit and the second detection unit; changing the range of the defense space from the first range to a second range based on a result of classifying the obstacle detected by at least the other of the first detection unit and the second detection unit; executing control of the movement of the autonomous moving body, including the collision control, when the obstacle is present inside the defendable space and / or when the obstacle is predicted to enter the defendable space; on the computer, In the step of classifying the detected obstacle, If the obstacle is classified as a wall, In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, excluding a portion of the wall of the defendable space from the defendable space; An autonomous mobility program that causes a computer to perform the following tasks:

12. An autonomous movement program for an autonomous moving body that moves autonomously, a step of setting a predetermined defensive space around the autonomous moving body, the defensive space being used to perform at least one of a control to avoid a collision between the autonomous moving body and an obstacle and a control to reduce damage at the time of a collision; a step of classifying obstacles around the autonomous moving body detected by a first detection unit mounted on the autonomous moving body and obstacles around the autonomous moving body detected by a second detection unit installed in a facility space in which the autonomous moving body moves; changing the range of the defense space to a first range based on a result of classifying the obstacle detected by one of the first detection unit and the second detection unit; changing the range of the defense space from the first range to a second range based on a result of classifying the obstacle detected by at least the other of the first detection unit and the second detection unit; executing control of the movement of the autonomous moving body, including the collision control, when the obstacle is present inside the defendable space and / or when the obstacle is predicted to enter the defendable space; on the computer, In the step of classifying the detected obstacle, If the obstacle is classified as a wheelchair: In the step of changing the extent of the defendable space to a first range and the step of changing the extent of the defendable space from the first range to a second range, The width of the protective space on the wheelchair side is reduced, and the width of the protective space on the opposite side of the wheelchair is increased. An autonomous mobility program that causes a computer to perform the following tasks:

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