Autonomous mobile system, autonomous mobile method, and autonomous mobile 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 invention includes an autonomous mobile body 100 that autonomously moves. The autonomous mobile system 1 comprises: a control unit 111 for executing control of movement of the autonomous mobile body 100, including collision control; a setting unit 114 for setting a defense space 130 on the periphery of the autonomous mobile body 100 for executing collision control; a detection unit 115 for detecting an obstacle in the surrounding of the autonomous mobile body 100; and a classification unit 116 for classifying the detected obstacle. The setting unit 114 causes the range of the defense space 130 on the basis of the obstacle classified by the classification unit 116, and the control unit 111 executes control of movement of the autonomous mobile body 100, including collision control, when there is an obstacle inside of the defense space 130 and / or when intrusion of an obstacle into the defense space 130 is predicted.SELECTED DRAWING: Figure 9

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses an autonomous mobile system including an autonomous mobile body. The autonomous mobile body of Patent Document 1 includes a sensor that detects obstacles around the autonomous mobile body, and sets a prohibited entry space and a restricted entry space. When the sensor detects an obstacle entering the restricted entry space, the autonomous mobile body reduces its moving speed or performs an avoidance operation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Although Patent Document 1 describes notifying the surroundings by voice or LED when the autonomous mobile body starts, it does not describe the obstacle avoidance operation at the time of starting. Even if there is an obstacle near the autonomous mobile body, if it is outside the prohibited entry space of the autonomous mobile body, the autonomous mobile body starts. Therefore, if an obstacle located near the prohibited entry space moves immediately after the autonomous mobile body starts, there is a possibility of collision with the autonomous mobile body.

[0005] In addition, when there is an obstacle in the prohibited entry space of the stopped autonomous mobile body, the autonomous mobile body may not be able to start until the obstacle moves away. In order for the autonomous mobile body to start without interfering with the obstacle, it is desirable to grasp the situation such as the movement of the obstacle around the autonomous mobile body and change the operation such as starting or stopping according to the situation.

[0006] The purpose of this disclosure is to solve these problems and to provide an autonomous mobile system, an autonomous mobile method, and an autonomous mobile program that can change their operation according to 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, comprising: a control unit that performs control of the movement of the autonomous mobile body, including collision control which includes at least one of the following: control to avoid collision between the autonomous mobile body and an obstacle, and control to reduce damage in the event of a collision; a setting unit that sets a predetermined protective space around the autonomous mobile body for the control unit to perform the collision control; a detection unit that detects obstacles around the autonomous mobile body; and a classification unit that classifies the detected obstacles, wherein the setting unit changes the range of the protective space based on the obstacles classified by the classification unit, and the control unit performs control of the movement of the autonomous mobile body, including collision control, in at least one of the following cases: when there is an obstacle inside the protective space, or when the entry of an obstacle into the protective space is predicted.

[0008] In the above-described autonomous mobile system, the movement of the autonomous mobile body includes the launch of the autonomous mobile body, and the control unit may stop the launch of the autonomous mobile body based on the obstacles classified by the classification unit.

[0009] In the above-described autonomous mobile system, the detection unit may acquire information about the obstacle from at least one of the sensors and cameras mounted on the autonomous mobile body, and the equipment sensors and equipment cameras installed in the equipment space in which the autonomous mobile body moves.

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

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

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

[0013] In the above-described autonomous mobility system, if the classification unit classifies the obstacle as the wheelchair in a state where it has been stopped for a predetermined time, the setting unit may exclude the portion of the protective space corresponding to the wheelchair from the protective space.

[0014] In the above-described autonomous mobile system, if the classification unit classifies the obstacle as the wheelchair with a person in it, the control unit may move the autonomous mobile unit away from the wheelchair.

[0015] In the above-described autonomous mobile system, if the classification unit classifies the obstacle as a stretcher, the setting unit may enlarge the protective space, and the control unit may cause the autonomous mobile body to move out of the space through which the stretcher passes in the direction in which the stretcher is moving.

[0016] The above-described autonomous mobile system further includes a storage unit that stores map information of the facility space in which the autonomous mobile body moves, and the classification unit may classify the detected obstacles based on the map information acquired from the storage unit.

[0017] The autonomous movement method according to this embodiment is an autonomous movement method for an autonomously moving autonomous mobile body, comprising the steps of: setting a predetermined protective space around the autonomous mobile body for performing collision control, which is at least one of the following: control to avoid collision between the autonomous mobile body and an obstacle, and control to reduce damage in the event of a collision; detecting obstacles around the autonomous mobile body; classifying the detected obstacles; changing the range of the protective space based on the classified obstacles; and performing control of the movement of the autonomous mobile body, including the collision control, in at least one of the cases where there are obstacles inside the protective space and when the entry of obstacles into the protective space is predicted.

[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 perform the following steps: setting up a predetermined protective space around the autonomous mobile body for executing collision control, which is at least one of the following: control to avoid collision between the autonomous mobile body and an obstacle, and control to reduce damage in the event of a collision; detecting obstacles around the autonomous mobile body; classifying the detected obstacles; changing the range of the protective space based on the classified obstacles; and executing control of the movement of the autonomous mobile body, including the collision control, in at least one of the cases where there is an obstacle inside the protective space and when the entry of an obstacle into the protective space is predicted. [Effects of the Invention]

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

[0020] [Figure 1] This is a schematic diagram illustrating an autonomous mobile body in the autonomous mobile system according to Embodiment 1. [Figure 2]It is a schematic diagram illustrating an autonomous mobile body in the autonomous mobile system according to Embodiment 1. [Figure 3] It is a schematic diagram illustrating a facility space in which the autonomous mobile system according to Embodiment 1 is arranged. [Figure 4] It is a configuration diagram illustrating an autonomous mobile body and a management device in the autonomous mobile system according to Embodiment 1. [Figure 5] It is a block diagram illustrating an autonomous mobile body and a management device in the autonomous mobile system according to Embodiment 1. [Figure 6] It is a block diagram illustrating an autonomous mobile body in the autonomous mobile system according to another example of Embodiment 1. [Figure 7] It is a diagram illustrating a defensive space set by the setting unit of the autonomous mobile system according to Embodiment 1. [Figure 8] It is a diagram illustrating a defensive space set by the setting unit of the autonomous mobile system according to Embodiment 1. [Figure 9] It is a diagram illustrating the range of the defensive space changed by the setting unit of the autonomous mobile system according to Embodiment 1. [Figure 10] It is a diagram illustrating the range of the defensive space changed by the setting unit of the autonomous mobile system according to Embodiment 1. [Figure 11] It is a diagram illustrating the range of the defensive space changed by the setting unit of the autonomous mobile system according to Embodiment 1. [Figure 12] It is a diagram illustrating the range of the defensive space changed by the setting unit of the autonomous mobile system according to Embodiment 1. [Figure 13] It is a schematic diagram illustrating an autonomous mobile body in the autonomous mobile system according to Embodiment 1. [Figure 14] It is a flowchart diagram illustrating the autonomous movement method of the autonomous mobile body according to Embodiment 1.

Modes for Carrying Out the Invention

[0021] The specific configuration of this embodiment will be described below with reference to the drawings. The following description illustrates preferred embodiments of the disclosure, and the scope of the disclosure is not limited to the following embodiments. Furthermore, not all of the configurations described in this embodiment are necessarily essential as means to solve the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are denoted by the same reference numerals, and redundant explanations have been omitted as necessary.

[0022] (Embodiment 1) The autonomous mobile system according to Embodiment 1 will now 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] Figures 1 and 2 are schematic diagrams illustrating an autonomous mobile body in the autonomous mobile system according to Embodiment 1. As shown in Figure 1, the autonomous mobile system 1 includes an autonomous mobile body 100 that moves autonomously and is located in a predetermined facility space 900. The facility space 900 is, for example, a space inside a hospital. However, the facility space 900 is not limited to a space inside a hospital, as long as it is a space in which the autonomous mobile system 1 is located, it may also be a space inside a rehabilitation center, a nursing home, or a facility for the elderly. Furthermore, the facility space 900 may also be a space inside an office, factory, or warehouse, as well as a space inside a commercial facility such as a shopping mall. The autonomous mobile system 1 may be located not only indoors but also outdoors, such as in a theme park or tourist spot.

[0024] Here, for the sake of explaining the autonomous mobile system 1, we introduce an XYZ Cartesian coordinate system. For example, the floor surface of the facility space 900 in which the autonomous mobile body 100 moves will be the XY plane, and the direction perpendicular to the floor surface will be the Z axis direction.

[0025] As shown in Figures 1 and 2, the autonomous mobile unit 100 moves within the facility space 900. The autonomous mobile unit 100 is, for example, a transport robot that performs the task of transporting objects. The autonomous mobile unit 100 may also be an autonomous guided vehicle that autonomously moves using wheels. The autonomous mobile unit 100 may also include mobile units that can move using methods other than wheels, such as hovercraft or linear motor systems. Furthermore, the autonomous mobile unit 100 may not only perform autonomous movement control itself, but may also be controlled by control signals transmitted from a management device such as an external server.

[0026] The user places the items to be transported into the autonomous mobile unit 100 and requests transport. The autonomous mobile unit 100 autonomously moves to the set destination and transports the items. If the facility space 900 is a hospital, as shown in Figure 1, the autonomous mobile unit 100 delivers the items from one clinical department's nurse station NS to another clinical department's nurse station NS. Alternatively, the autonomous mobile unit 100 delivers items from a storage room for supplies and medical equipment to a clinical department's nurse station NS. Then, as shown in Figure 2, the autonomous mobile unit 100 turns around at the nurse station NS and moves from the nurse station NS to another destination. For example, the autonomous mobile unit 100 delivers dispensed medicine to the clinical department or patient where it is scheduled to be used. The autonomous mobile unit 100 may also transport supplies, consumables, medical equipment, etc., between multiple clinical departments.

[0027] Examples of items to be transported include consumables such as medicines and packaging bags, specimens, testing equipment, medical devices, hospital meals, stationery, and other supplies. Examples of medical devices include blood pressure monitors, blood transfusion pumps, syringe pumps, foot pumps, nurse call systems, bed exit sensors, foot pumps, low-pressure continuous inhalers, electrocardiogram monitors, drug infusion controllers, enteral nutrition pumps, ventilators, cuff pressure gauges, touch sensors, suction devices, nebulizers, pulse oximeters, blood pressure monitors, resuscitation devices, sterile equipment, and ultrasound devices. Meals such as hospital meals and test meals may also be transported. Furthermore, the autonomous mobile unit 100 may transport used equipment, used tableware, etc. If the destination is on a different floor, the autonomous mobile unit 100 may move using an elevator or the like.

[0028] Figure 3 is a schematic diagram illustrating an example of an equipment space 900 in which an autonomous mobile system 1 according to Embodiment 1 is located. As shown in Figure 3, the equipment space 900 may have walls 910. The autonomous mobile unit 100 may move within the space enclosed by the walls 910. A wheelchair 920 and a stretcher 930 may be located in the equipment space 900. The wheelchair 920 and stretcher 930 may move within the equipment space 900 or may be fixed in a predetermined position within the equipment space 900. A person 940 may be present in the equipment space 900. The person 940 may move within the equipment space 900.

[0029] The equipment space 900 may be equipped with one or more equipment cameras and a camera unit 950 including one or more equipment sensors, etc. Multiple autonomous mobile units 100 and 100a may move around the equipment space 900. Figure 3 shows two autonomous mobile units 100 and 100a, but three or more autonomous mobile units 100, 100a, ... may move around the equipment space 900. The equipment space 900 includes walls 910, wheelchairs 920, stretchers 930, and people 940 that act as obstacles for the autonomous mobile units 100 as they move. The camera unit 950 acquires information such as images and videos regarding obstacles around the autonomous mobile units 100 in the equipment space 900.

[0030] Figure 4 is a diagram illustrating an autonomous mobile system 1 according to Embodiment 1. As shown in Figure 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, as described above, multiple autonomous mobile bodies 100.

[0031] User U can use the user terminal 820 to request the autonomous mobile unit 100 to transport an object. For example, the user terminal 820 may be a tablet computer or a smartphone. The user terminal 820 can be any information processing device capable of wireless or wired communication.

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

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

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

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

[0036] As shown in Figures 5 and 6, the autonomous mobile unit 100 includes a control unit 111, a storage 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 storage unit 212, and a communication unit 213. Figures 5 and 6 show typical processing blocks provided in the autonomous mobile unit 100 and the management device 200. The autonomous mobile unit 100 and the management device 200 may include other processing blocks not shown.

[0037] The control unit 111 controls the autonomous mobile unit 100. For example, the control unit 111 controls the movement of the autonomous mobile unit 100. The control unit 111 controls the movement of the autonomous mobile unit 100, for example, to reduce the risk of collision with an obstacle or the damage in the event of a collision. Specifically, the control unit 111 causes the autonomous mobile unit 100 to move in a way that avoids obstacles to prevent collisions. The control unit 111 may also control the autonomous mobile unit 100 to decelerate or stop. The control unit 111 may also control the autonomous mobile unit 100 to move in the same direction as other autonomous mobile units 100. At least one of the control to avoid collisions with obstacles and the control to reduce damage in the event of a collision is called collision control. The control unit 111 performs control of the movement of the autonomous mobile unit 100, including collision control. The movement of the autonomous mobile unit 100 may include starting the autonomous mobile unit 100.

[0038] The control unit 111 has the ability to execute programs, for example, like the central processing unit (CPU) of a computer. The functions of each part of the autonomous mobile unit 100 can also be realized by program.

[0039] The memory unit 112 stores various data for the movement of the autonomous mobile unit 100. For example, the memory unit 112 stores data such as the destination of the transported object 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 protective space around the autonomous mobile body 100. Figures 7 and 8 illustrate an example of a protective space 130 set by the setting unit 114 of the autonomous mobile system 1 according to Embodiment 1. As shown in Figure 7, the setting unit 114 sets, for example, a cylindrical protective space 130 around the autonomous mobile body 100. The protective space 130 is a space for executing at least one of the following controls: controls to avoid collisions with obstacles and controls to reduce damage in the event of a collision. Specifically, the protective space 130 is a range (space) set up for executing controls to reduce the risk of collision or damage in the event of a collision when an obstacle enters or is expected to enter its set range. The protective space 130 is a space for executing collision control by the control unit 111. The protective space 130 may be cylindrical with a central axis extending in the Z-axis direction. Figure 7 shows a cylindrical space and a cylindrical space centered on the autonomous mobile unit 100, but their size and shape are appropriately determined by the equipment 900 in which the autonomous mobile unit 100 is used, the size and mobility performance of the autonomous mobile unit 100, the detection range of the detection unit 115 and the camera unit 950, etc.

[0041] Furthermore, as shown in Figure 8, the setting unit 114 may set a rectangular parallelepiped-shaped protective space 130 around the autonomous mobile body 100. The protective space 130 may be a rectangular parallelepiped surrounding the autonomous mobile body 100. Note that the shape of the protective space 130 is not limited to cylindrical and rectangular parallelepiped shapes, but may also be other shapes such as a sphere containing the autonomous mobile body 100 inside.

[0042] The detection unit 115 detects obstacles in the vicinity of the autonomous mobile body 100. The detection unit 115 may include at least one of sensors and cameras mounted on the autonomous mobile body 100. The sensors may be, for example, distance sensors. The detection unit 115 may include multiple sensors. The detection capability of the detection unit 115 to detect obstacles may extend outside the protected space 130. The detection unit 115 may also detect obstacles by acquiring information such as images and videos of obstacles using cameras, etc. The detection unit 115 outputs information about the detected obstacles to the classification unit 116. The autonomous mobile system 1 may also include a camera unit 950. The camera unit 950 is installed in the facility space 900 in which the autonomous mobile body 100 moves. The camera unit 950 may include at least one of sensors and cameras. The camera unit 950 outputs information about the detected obstacles to the classification unit 116 via the detection unit 115, either via the network 800 or directly. Therefore, the detection unit 115 may acquire information about obstacles from at least one of the sensors and cameras mounted on the autonomous mobile body 100, and the equipment sensors and equipment cameras installed in the equipment space 900 in which the autonomous mobile body 100 moves. The detection unit 115 may also acquire information about obstacles from the camera unit 950 via the management device 200 or directly.

[0043] The classification unit 116 classifies the detected obstacles. The classification unit 116 acquires information about the detected obstacles from at least one of the detection unit 115 and the camera unit 950. For example, the classification unit 116 acquires an image of the obstacle. The classification unit 116 classifies the obstacles from the acquired information. For example, the classification unit 116 classifies the obstacle as a wall 910. Alternatively, the classification unit 116 may classify the obstacle as a wheelchair 920 or as a stretcher 930. The classification unit 116 outputs the information about the classified obstacles to the setting unit 114. Alternatively, the classification unit 116 may output the information about the classified obstacles to the control unit 111.

[0044] Furthermore, the classification unit 116 may have an algorithm that has been trained using obstacles as learning data. The classification unit 116 may classify the obstacles detected by the detection unit 115 by using the machine learning algorithm.

[0045] The defensive space 130 is a space provided to protect the autonomous mobile unit 100 from obstacles. Therefore, the control unit 111 controls the movement of the autonomous mobile unit 100 if there is an obstacle inside the defensive space 130. For example, as described above, the control unit 111 may control the autonomous mobile unit 100 to decelerate or to stop. Alternatively, the control unit 111 may control it to move in the same direction as other autonomous mobile units 100. The control unit 111 may also predict whether an obstacle will enter the defensive space 130. For example, the control unit 111 may predict whether an obstacle will enter the defensive space 130 based on the direction and speed of the obstacle's movement. Even when the entry of an obstacle into the defensive space 130 is predicted, the control unit 111 may control the movement of the autonomous mobile unit 100 as described above.

[0046] As shown in Figure 7, if a wall 910 is included inside the protective space 130, the control unit 111 stops the movement of the autonomous mobile unit 100. Also, as shown in Figure 8, if a wheelchair 920 is included inside the protective space 130, the control unit 111 stops the movement of the autonomous mobile unit 100. If the movement of the autonomous mobile unit 100 includes starting the autonomous mobile unit 100, the control unit 111 stops the starting of the autonomous mobile unit 100. Therefore, if a wall 910 or a wheelchair 920 is included inside the protective space 130, the autonomous mobile unit 100 cannot move from the nurse station NS to another transport destination such as a patient's room.

[0047] Therefore, in order to release the halt in such movement, the autonomous mobile unit 100 of this embodiment changes the range of the defensive space 130 based on the obstacle classification results. Specifically, the setting unit 114 changes the range of the defensive space 130 based on the obstacles classified by the classification unit 116. Figures 9 to 12 illustrate the range of the defensive space 130 changed by the setting unit 114 of the autonomous mobile system 1 according to Embodiment 1.

[0048] As shown in Figure 9, for example, if the classification unit 116 classifies the obstacle as a wall 910, the setting unit 114 excludes the portion of the wall 910 from the defensive space 130. Specifically, the setting unit 114 excludes the portion of the wall 910 from the defensive space 130 set around the autonomous mobile body 100 in a masking manner. As a result, the defensive space 130 excludes the columnar portion with a cross-section of an arc that overlaps with the wall 910. Therefore, since the obstacle can be excluded from inside the defensive space 130, the control unit 111 can move the autonomous mobile body 100. For example, the control unit 111 can launch the autonomous mobile body 100.

[0049] The setting unit 114 may set the area excluded from the defensive space 130 as a no-movement space. The no-movement space may be an area where the autonomous mobile unit 100 is prohibited from moving. The control unit 111 controls the autonomous mobile unit 100 to prevent it from entering the no-movement space. This allows the autonomous mobile unit 100 to suppress collisions with the wall 910.

[0050] As shown in Figure 10, when the classification unit 116 classifies the obstacle as a wheelchair 920, the setting unit 114 reduces the width of the protective space 130 on the side of the wheelchair 920 and increases the width of the protective space 130 on the opposite side of the wheelchair 920. Specifically, when the wheelchair 920 is located on the -X axis side as viewed from the autonomous mobile unit 100, the setting unit 114 changes the width of the protective space 130 on the -X axis side of the autonomous mobile unit 100 to be reduced. On the other hand, the setting unit 114 changes the width of the protective space 130 on the +X axis side of the autonomous mobile unit 100 to be increased.

[0051] By reducing the width of the protective space 130 on the wheelchair 920 side, the wheelchair 920 can be quickly moved out of the protective space 130 when it moves. Also, when the wheelchair 920 moves out of the protective space 130, the autonomous mobile unit 100 will turn or reverse to move away from the wheelchair 920. Therefore, by increasing the width of the protective space 130 on the opposite side of the wheelchair 920, safety on the opposite side of the wheelchair 920 is ensured.

[0052] If the width of the protective space 130 on the wheelchair 920 side is to be reduced, it may be reduced until the wheelchair 920 is out of the protective space 130. This allows the autonomous mobile unit 100 to move away from the wheelchair 920 by turning or moving backward.

[0053] As shown in Figure 11, if the detection unit 115 detects an obstacle and the classification unit 116 classifies it as a wheelchair 920 that has been stopped for a predetermined time, the setting unit 114 may exclude the portion of the protective space 130 corresponding to the wheelchair 920. Alternatively, if the classification unit 116 classifies the obstacle as a wheelchair 920 with a person 940 in it, the setting unit 114 may exclude the portion of the protective space 130 corresponding to the wheelchair 920.

[0054] In such cases, the setting unit 114 excludes the portion of the protective space 130 surrounding the autonomous mobile unit 100 that contains the wheelchair 920, effectively masking it. As a result, the protective space 130 excludes the rectangular portion that overlaps with the wheelchair 920. Therefore, since the obstacle can be removed from within the protective space 130, the control unit 111 can move the autonomous mobile unit 100. The setting unit 114 may also set the portion excluded from the protective space 130 as a no-movement space.

[0055] In particular, if the classification unit 116 classifies the obstacle as a wheelchair 920 with a person 940 in it, the control unit 111 moves the autonomous mobile unit 100 away from the wheelchair 920. Alternatively, the setting unit 114 removes the portion of the protective space 130 containing the wheelchair 920 from the protective space 130, and then the control unit 111 moves the autonomous mobile unit 100 away from the wheelchair 920. This prevents the autonomous mobile unit 100 from colliding with the wheelchair 920 even if the wheelchair 920 with the person 940 in it moves.

[0056] As shown in Figure 12, when the classification unit 116 classifies the obstacle as a stretcher 930, the setting unit 114 enlarges the protective space 130. Specifically, for example, the setting unit 114 expands the protective space 130 set around the autonomous mobile body 100 by a predetermined width in a predetermined direction. For example, the setting unit 114 expands the protective space 130 to the space through which the stretcher 930 passes in the direction in which the stretcher 930 moves. In this case, the setting unit 114 may exclude the portion of the protective space 130 that is the wall 910 and the portion that is the wheelchair 920.

[0057] The movement of the stretcher 930 may be urgent. Therefore, the movement speed of the stretcher 930 is fast. In addition, the stretcher 930 may be accompanied by various equipment and a person 940 performing the procedure. For these reasons, it is desirable to have a spatial margin between the autonomous mobile unit 100 and the stretcher 930.

[0058] If the classification unit 116 classifies the obstacle as a stretcher 930, the setting unit 114 enlarges the protective space 130, thereby suppressing collisions with the stretcher 930. In this case, it is desirable for the control unit 111 to move the autonomous mobile unit 100 out of the space through which the stretcher 930 passes in the direction in which the stretcher 930 is moving. This further suppresses collisions with the stretcher 930.

[0059] As shown in Figure 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 mobile unit 100, similar to the control unit 111. The control unit 211 may also control the movement of multiple autonomous mobile units 100.

[0060] The control unit 211 has the capability to execute programs, for example, like a computer's CPU. The functions of each part of the autonomous mobile unit 100 can also be realized by program.

[0061] The memory unit 212, like the memory unit 112, stores various data for the movement of the autonomous mobile unit 100. For example, the memory unit 212 stores data such as the destination of the transported object input by the user U. The communication unit 213 acquires image and video data from the camera unit 950. The communication unit 213 also transmits and receives various data between the user terminal 820 and the autonomous mobile unit 100.

[0062] Next, the drive unit 117, the display unit 118, and the operation reception unit 119 will be described with reference to the drawings. Figure 13 is a schematic diagram illustrating an autonomous mobile body 100 in the autonomous mobile system 1 according to Embodiment 1. The autonomous mobile body 100 shown in Figure 13 is one form of the autonomous mobile body 100, and other forms may also be used. In Figure 13, the autonomous mobile body 100 is shown with its forward direction facing the +X axis direction and its reverse direction facing 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.

[0063] The autonomous mobile unit 100 comprises a main body 190 and a trolley 160. The main body 190 is mounted on the trolley 160. The main body 190 and the trolley 160 each have a rectangular parallelepiped housing, and each component is mounted inside this housing. For example, the drive unit 117 is housed inside the trolley 160.

[0064] The main body 190 is provided with a storage compartment 191 that serves as a storage space and a door 192 that seals the storage compartment 191. The storage compartment 191 has multiple shelves, and the availability status of each shelf is managed. For example, the availability status can be updated by placing various sensors, such as weight sensors, on each shelf. The autonomous mobile unit 100 autonomously transports the transported items stored in the storage compartment 191 to a destination instructed by the management device 200. The main body 190 may have a control box or other components mounted inside the casing (not shown). The door 192 may also be lockable with an electronic key or the like. Upon arrival at the destination, user U unlocks the door 192 with the electronic key. Alternatively, the door 192 may unlock automatically upon arrival at the destination.

[0065] As shown in Figure 13, the exterior of the autonomous mobile unit 100 is equipped with a sensor group consisting of a front-to-back distance sensor 141 and a left-to-right distance sensor 142. The autonomous mobile unit 100 measures the distance of surrounding objects in the front-to-back direction using the front-to-back distance sensor 141. As a result, the detection unit 115 detects obstacles in the front-to-back direction of the autonomous mobile unit 100. The autonomous mobile unit 100 also measures the distance of surrounding objects in the left-to-right direction using the left-to-right distance sensor 142. As a result, the detection unit 115 detects obstacles in the left-to-right direction of the autonomous mobile unit 100.

[0066] For example, the front-to-rear distance sensor 141 is positioned on the front and rear surfaces of the housing of the main unit 190, respectively. The left-to-right distance sensor 142 is positioned on the left and right surfaces of the housing of the main unit 190, respectively. The front-to-rear distance sensor 141 and the left-to-right distance sensor 142 are, for example, ultrasonic distance sensors or laser rangefinders.

[0067] The drive unit 117 is equipped 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 any driving force and roll in accordance with the drive wheels 161. The drive unit 117 has a drive motor (not shown) that drives the drive wheels 161.

[0068] For example, the drive unit 117 supports two drive wheels 161 and two casters 162 within its housing, each of which contacts the running surface. The two drive wheels 161 are arranged so that their axis of rotation coincides with each other. Each drive wheel 161 is independently rotationally driven by a motor (not shown). The casters 162 are driven wheels and follow the direction of movement of the drive unit 117.

[0069] The autonomous mobile vehicle 100 will move in a straight line if, for example, its two drive wheels 161 rotate in the same direction at the same rotational speed, and will turn around a vertical axis passing approximately in the center of the two drive wheels 161 if they rotate in opposite directions at the same rotational speed. Furthermore, by rotating the two drive wheels 161 in the same direction but at different rotational speeds, it can move while turning left or right. For example, by making the rotational speed of the left drive wheel 161 higher than that of the right drive wheel 161, it can turn right. Conversely, by making the rotational speed of the right drive wheel 161 higher than that of the left drive wheel 161, it can turn left. In other words, the autonomous mobile vehicle 100 can move in any direction, turn, and make left or right turns by controlling the rotational direction and rotational speed of the two drive wheels 161.

[0070] In the autonomous mobile unit 100, a display unit 118 and an operation reception unit 119 are provided on the upper surface of the main body 190. The operation reception unit 119 is displayed on the display unit 118. By touching the operation reception unit 119 displayed on the display unit 118, the operation reception unit 119 can receive instruction input from the user. An emergency stop button 182 may also be provided on the upper surface of the display unit 118.

[0071] The display unit 118 is, for example, a liquid crystal panel, which can display a character's face as an illustration or present information about the autonomous mobile unit 100 as text or icons. If a character's face is displayed on the display unit 118, it can give the impression to observers that the display unit 118 is a simulated face. It is also possible to use the display unit 118 mounted on the autonomous mobile unit 100 as a user terminal 820.

[0072] A camera 125 is installed on the front of the main unit 190. Here, two cameras 125 function as a stereo camera. That is, two cameras 125 with the same field of view are positioned horizontally 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 a subject and the size of the subject. The classification unit 116 can classify obstacles by analyzing the images from the cameras 125. If there are people or obstacles ahead in the direction of travel, the autonomous mobile unit 100 moves along the path while avoiding them. The image data from the cameras 125 may also be transmitted to the management device 200.

[0073] Next, the autonomous movement method of the autonomous mobile unit 100 will be described. Figure 14 is a flowchart illustrating the autonomous movement method of the autonomous mobile unit 100 according to Embodiment 1.

[0074] As shown in step S11 of Figure 14, a predetermined defensive space 130 is set around the autonomous mobile body 100. Specifically, the setting unit 114 sets a predetermined defensive space 130, such as a cylindrical or rectangular parallelepiped, around the autonomous mobile body 100.

[0075] Next, as shown in step S12, obstacles around the autonomous mobile body 100 are detected. Specifically, the detection unit 115 is made to detect obstacles around the autonomous mobile body 100. Alternatively, the camera unit 950, such as an equipment camera, may be made to detect obstacles around the autonomous mobile body 100.

[0076] Next, as shown in step S13, the detected obstacles are classified. Specifically, the classification unit 116 is made to classify the detected obstacles. The classification unit 116 may classify the obstacles by using an algorithm that has been trained on the obstacles as training data.

[0077] Next, as shown in step S14, the range of the defensive space 130 is changed based on the classified obstacles. Specifically, the setting unit 114 is instructed to change the range of the defensive space 130 based on the classified obstacles.

[0078] Next, as shown in step S15, the system is made to determine whether there is an obstacle inside the defensive space 130. Specifically, the control unit 111 is made to make this determination. The control unit 111 may also predict whether an obstacle will be inside the defensive space 130. In step S15, if there is an obstacle inside the defensive space 130 or if it is predicted that an obstacle will be inside the defensive space 130 (YES in step S15), the movement of the autonomous mobile unit 100 is controlled as shown in step S16. The movement of the autonomous mobile unit 100 includes launching the autonomous mobile unit 100, and the control unit 111 may stop the launch of the autonomous mobile unit 100 based on the classified obstacle. Then, the system proceeds to step S18.

[0079] On the other hand, if there are no obstacles inside the defensive space 130 in step S15 (NO in step S15), the control unit 111 moves the autonomous mobile body 100 as shown in step S17. Then, the process proceeds to step S18.

[0080] Next, as shown in step S18, the control unit 111 is made to decide whether to terminate the process. If the process is not terminated because tasks such as transporting goods have not been completed, or a predetermined time has not elapsed (NO in step S18), the process returns to step S12, and steps S12 to S18 are repeated.

[0081] On the other hand, in step S18, if the process is terminated due to the completion of tasks such as transporting goods, or the elapsed of a predetermined time (YES in step S18), the process is terminated.

[0082] The autonomous movement method in this embodiment may be performed by the autonomous mobile unit 100 alone, or by the management device 200. Alternatively, the autonomous mobile unit 100 and the management device 200 may work together to perform the autonomous movement method.

[0083] Next, the effects of this embodiment will be explained. The autonomous mobile system 1 of this embodiment detects obstacles around the autonomous mobile body 100 and classifies the detected obstacles. Then, the autonomous mobile system 1 changes the range of the protective space 130 based on the classified obstacles. Therefore, even if there are obstacles in the protective space 130 of the autonomous mobile body 100, the autonomous mobile system 1 can remove the obstacles from the protective space 130 by changing the range of the protective space 130 based on the obstacles. Thus, the autonomous mobile body 100 can be moved. In this way, the autonomous mobile system 1 can change its operation according to the surrounding conditions of the autonomous mobile body 100 and move the autonomous mobile body 100 safely.

[0084] The movement of the autonomous mobile unit 100 may include the launching of the autonomous mobile unit 100. Therefore, the autonomous mobile system 1 can safely launch the autonomous mobile unit 100 depending on the surrounding conditions.

[0085] When detecting obstacles around the autonomous mobile unit 100, sensors and cameras mounted on the autonomous mobile unit 100 may be used, or equipment sensors and cameras installed within the equipment space 900 may be used. Obstacles can be detected from multiple angles, allowing the autonomous mobile unit 100 to move more safely.

[0086] Obstacles can be classified using machine learning algorithms. This can improve the accuracy of obstacle classification.

[0087] By pre-determining the actions of the autonomous mobile unit 100 when the classification unit 116 classifies obstacles into walls 910, wheelchairs 920, and stretchers 930, the unit can change its actions according to the situation. Therefore, the autonomous mobile unit 100 can be moved safely.

[0088] (Embodiment 2) Next, an autonomous mobile system according to Embodiment 2 will be described. The autonomous mobile system of this embodiment uses map information of the facility space 900.

[0089] The memory 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 pre-created, generated from information obtained from the autonomous mobile unit 100, or a pre-created basic floor map with information obtained from the autonomous mobile unit 100 added. The floor map includes information on the location and arrangement of walls 910, gates, doors, stairs, elevators, fixed shelves, etc., in the facility space 900. The floor map may be represented as a two-dimensional grid map. In this case, information on walls 910 and doors, etc., is associated with each grid in the floor map.

[0090] The setting unit 114 may change the range of the defense space 130 based on the map information acquired from the memory unit 112. If the setting unit 114 acquires map information of the wall 910 from the memory unit 112, it excludes the portion of the wall 910 in the acquired map information from the defense space 130. In this way, by acquiring obstacles in the facility space 900 from the memory unit 112, detection by the detection unit 115 and classification by the classification unit 116 can be omitted, thereby enabling smoother movement of the autonomous mobile unit 100.

[0091] 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, it compares the location of the detected obstacle with the location of the wall 910 in the map information. If the two match, the classification unit 116 classifies the obstacle as the wall 910. In this way, by acquiring map information of the facility space 900 from the storage unit 112, the accuracy of obstacle classification can be improved.

[0092] Map information may be stored not only in the memory unit 112 of the autonomous mobile unit 100, but also in the memory unit 212 of the management device 200. The setting unit 114 and the classification unit 116 may acquire map information from the memory unit 212 of the management device 200.

[0093] While embodiments of this disclosure have been described above, this disclosure includes appropriate modifications that do not impair its purpose and advantages, and is not limited by the above embodiments. Furthermore, combinations of the configurations of Embodiments 1 and 2 are also included within the scope of the technical concept of this embodiment. In addition, the autonomous movement method shown below, and the autonomous movement program shown below that causes a computer to execute the autonomous movement method, are also included within the scope of the technical concept of this embodiment.

[0094] Some or all of the processing in 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 using various types of non-temporary computer-readable media and supplied to a computer. Non-temporary computer-readable media include various types of tangible recording media. Examples of non-temporary 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 memory (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). Programs may also be supplied to a computer using various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can be supplied to a computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.

[0095] (Note 1) An autonomous movement method for an autonomous mobile body, A step of setting up a predetermined protective space around the autonomous mobile body, the protective space for performing collision control, which includes at least one of the following: control to avoid collision between the autonomous mobile body and an obstacle, and control to reduce damage in the event of a collision. The steps include: detecting obstacles around the autonomous mobile body, A step of classifying the detected obstacles, A step of changing the range of the defensive space based on the classified obstacles, The steps include: executing control of the movement of the autonomous mobile body, including collision control, in at least one of the cases where the obstacle is inside the protective space and where the entry of the obstacle into the protective space is predicted; An autonomous mobility method equipped with [a specific feature / feature]. (Note 2) The movement of the autonomous mobile body includes the departure of the autonomous mobile body. In the step of stopping the movement of the autonomous mobile body, Based on the classified obstacles, the starting of the autonomous mobile unit is stopped. The autonomous movement method described in Appendix 1. (Note 3) In the step of causing the autonomous mobile body to detect obstacles in its vicinity, At least one of the sensors and cameras mounted on the autonomous mobile body, and the equipment sensors and equipment cameras installed in the equipment space in which the autonomous mobile body moves, is used to detect the obstacles in the vicinity of the autonomous mobile body. The autonomous movement method described in Appendix 1. (Note 4) In the step of classifying the detected obstacles, By using an algorithm that has been trained on the aforementioned obstacles as learning data, the detected obstacles are classified. The autonomous movement method described in Appendix 1. (Note 5) In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a wall, In the step of changing the range of the defensive space, To exclude the portion of the wall of the aforementioned defensive space from the defensive space, The autonomous movement method described in Appendix 1. (Note 6) In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a wheelchair, In the step of changing the range of the defensive space, 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. The autonomous movement method described in Appendix 1. (Note 7) In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a wheelchair that has been stopped for a predetermined period of time, In the step of changing the range of the defensive space, The wheelchair portion of the protective space is excluded from the protective space. The autonomous movement method described in Appendix 6. (Note 8) In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a wheelchair with a person in it, The autonomous mobile unit is further provided with a step for moving it away from the wheelchair. The autonomous movement method described in Appendix 6. (Note 9) In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a stretcher, In the step of changing the range of the defensive space, The aforementioned defensive space is enlarged, The method further includes a step of causing the autonomous mobile body to exit the space through which the stretcher passes in the direction in which the stretcher is moving. The autonomous movement method described in Appendix 1. (Note 10) The step further includes storing map information of the facility space in which the autonomous mobile body moves, In the step of classifying the detected obstacles, Based on the aforementioned map information, the obstacles are classified. The autonomous movement method described in Appendix 1. (Note 11) An autonomous movement program for an autonomous mobile body, A step of setting up a predetermined protective space around the autonomous mobile body, the protective space for performing collision control, which includes at least one of the following: control to avoid collision between the autonomous mobile body and an obstacle, and control to reduce damage in the event of a collision. The steps include: detecting obstacles around the autonomous mobile body, A step of classifying the detected obstacles, A step of changing the range of the defensive space based on the classified obstacles, The steps include: executing control of the movement of the autonomous mobile body, including collision control, in at least one of the cases where the obstacle is inside the protective space and where the entry of the obstacle into the protective space is predicted; An autonomous movement program that instructs a computer to execute. (Note 12) The movement of the autonomous mobile body includes the departure of the autonomous mobile body. In the step of stopping the movement of the autonomous mobile body, Based on the classified obstacles, the starting of the autonomous mobile unit is stopped. An autonomous movement program described in Appendix 11 that causes a computer to perform the following actions. (Note 13) In the step of causing the autonomous mobile body to detect obstacles in its vicinity, At least one of the sensors and cameras mounted on the autonomous mobile body, and the equipment sensors and equipment cameras installed in the equipment space in which the autonomous mobile body moves, is used to detect the obstacles in the vicinity of the autonomous mobile body. An autonomous movement program described in Appendix 11 that causes a computer to perform the following actions. (Note 14) In the step of classifying the detected obstacles, By using an algorithm that has been trained on the aforementioned obstacles as learning data, the detected obstacles are classified. An autonomous movement program described in Appendix 11 that causes a computer to perform the following actions. (Note 15) In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a wall, In the step of changing the range of the defensive space, To exclude the portion of the wall of the aforementioned defensive space from the defensive space, An autonomous movement program described in Appendix 11 that causes a computer to perform the following actions. (Note 16) In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a wheelchair, In the step of changing the range of the defensive space, 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 movement program described in Appendix 11 that causes a computer to perform the following actions. (Note 17) In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a wheelchair that has been stopped for a predetermined period of time, In the step of changing the range of the defensive space, The wheelchair portion of the protective space is excluded from the protective space. An autonomous movement program described in Appendix 16 that causes a computer to perform the following actions. (Note 18) In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a wheelchair with a person in it, The autonomous mobile unit is further provided with a step for moving it away from the wheelchair. The autonomous movement program described in Appendix 16. (Note 19) In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a stretcher, In the step of changing the range of the defensive space, The aforementioned defensive space is enlarged, The method further includes a step of causing the autonomous mobile body to exit the space through which the stretcher passes in the direction in which the stretcher is moving. The autonomous movement program described in Appendix 11. (Note 20) The step further includes storing map information of the facility space in which the autonomous mobile body moves, In the step of classifying the detected obstacles, Based on the aforementioned map information, the obstacles are classified. An autonomous movement program described in Appendix 11 that causes a computer to perform the following actions. [Explanation of symbols]

[0096] 1.1a Autonomous mobile system 100, 100a Autonomous Mobile Unit 111 Control Unit 112 Storage section 113 Communications Department 114 Settings Section 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 / Right Distance Sensor 160 Bogie section 161 Drive wheels 162 Caster 182 Emergency Stop Button 190 Main body 191 Storage room 192 Door 200 Management device 211 Control Unit 212 Storage section 213 Communications Department 800 Network 810 Communication Unit 820 User Terminals 900 Equipment space 910 Wall 920 wheelchairs 930 stretcher 940 people 950 Camera Section

Claims

1. An autonomous mobile system including an autonomous mobile body that moves autonomously, A control unit that performs control of the movement of the autonomous mobile body, including collision control that includes at least one of the following: control to avoid collision between the autonomous mobile body and an obstacle, and control to reduce damage in the event of a collision. A setting unit sets a predetermined first defensive space around the autonomous mobile body, which is the first defensive space for the control unit to perform the collision control, A detection unit for detecting obstacles around the autonomous mobile body, A classification unit that classifies the detected obstacles, Equipped with, The setting unit changes the range of the first defensive space based on the obstacles classified by the classification unit. The control unit performs control of the movement of the autonomous mobile body, including collision control, in at least one of the following cases: when the obstacle is inside the first protective space, or when the entry of the obstacle into the first protective space is predicted. It is an autonomous mobile system, If the classification unit classifies the obstacle as a wheelchair, The setting unit sets a second protective space which is a first protective space whose width on the wheelchair side is reduced, and a second protective space which is a first protective space whose width on the opposite side of the wheelchair is increased. The control unit performs control of the movement of the autonomous mobile body, including collision control, in at least one of the following cases: when the obstacle is inside the second protective space, or when the entry of the obstacle into the second protective space is predicted. Autonomous mobile system.

2. The movement of the autonomous mobile body includes the departure of the autonomous mobile body. The control unit stops the autonomous mobile unit from starting based on the obstacles classified by the classification unit. The autonomous mobile system according to claim 1.

3. The detection unit acquires information about obstacles from at least one of the sensors and cameras mounted on the autonomous mobile body, and the equipment sensors and equipment cameras installed in the equipment space in which the autonomous mobile body moves. The autonomous mobile system according to claim 1.

4. The classification unit classifies the obstacles detected by the detection unit by using an algorithm that has been trained on the obstacles as learning data. The autonomous mobile system according to claim 1.

5. If the classification unit classifies the obstacle as a wall, The setting unit excludes the portion of the wall of the first defensive space from the first defensive space. The autonomous mobile system according to claim 1.

6. If the classification unit classifies the obstacle as the wheelchair in a state where it has been stopped for a predetermined time, The setting unit excludes the wheelchair portion of the second protective space from the second protective space. The autonomous mobile system according to claim 1.

7. If the classification unit classifies the obstacle as the wheelchair with a person on it, The control unit moves the autonomous mobile unit away from the wheelchair. The autonomous mobile system according to claim 1.

8. An autonomous mobile system including an autonomous mobile body that moves autonomously, A control unit that performs control of the movement of the autonomous mobile body, including collision control that includes at least one of the following: control to avoid collision between the autonomous mobile body and an obstacle, and control to reduce damage in the event of a collision. A setting unit sets a predetermined first defensive space around the autonomous mobile body, which is the first defensive space for the control unit to perform the collision control, A detection unit for detecting obstacles around the autonomous mobile body, A classification unit that classifies the detected obstacles, Equipped with, The setting unit changes the range of the first defensive space based on the obstacles classified by the classification unit. The control unit performs control of the movement of the autonomous mobile body, including collision control, in at least one of the following cases: when the obstacle is inside the first protective space, or when the entry of the obstacle into the first protective space is predicted. It is an autonomous mobile system, If the classification unit classifies the obstacle as a stretcher, The setting unit sets a third defensive space which is an enlarged version of the first defensive space, The control unit executes control of the movement of the autonomous mobile body, including collision control, in at least one of the following cases: when the obstacle is inside the third protective space and when the entry of the obstacle into the third protective space is predicted. The control unit causes the autonomous mobile body to exit the space through which the stretcher passes in the direction in which the stretcher is moving. Autonomous mobile system.

9. The system further comprises a storage unit that stores map information of the facility space in which the autonomous mobile body moves, The classification unit classifies the detected obstacles based on the map information obtained from the storage unit. The autonomous mobile system according to claim 1.

10. An autonomous movement method for an autonomous mobile body, A step of setting up a predetermined first defensive space around the autonomous mobile body, the first defensive space for performing collision control, which includes at least one of the following: control to avoid collision between the autonomous mobile body and an obstacle, and control to reduce damage in the event of a collision. The steps include: detecting obstacles around the autonomous mobile body, A step of classifying the detected obstacles, A step of changing the range of the first defensive space based on the classified obstacles, The steps include: performing control of the movement of the autonomous mobile body, including collision control, in at least one of the cases where the obstacle is inside the first protective space and where the entry of the obstacle into the first protective space is predicted; An autonomous mobility method comprising, In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a wheelchair, In the step of changing the range of the first defensive space, A second protective space is provided, which is the first protective space with a reduced width on the wheelchair side, and the second protective space is provided with a increased width on the side of the first protective space opposite the wheelchair. In the step of controlling the movement of the autonomous mobile body, The control of the movement of the autonomous mobile body, including collision control, is performed in at least one of the following cases: when the obstacle is inside the second protective space, or when the entry of the obstacle into the second protective space is predicted. Autonomous movement method.

11. An autonomous movement program for an autonomous mobile body, A step of setting up a predetermined first defensive space around the autonomous mobile body, the first defensive space for performing collision control, which includes at least one of the following: control to avoid collision between the autonomous mobile body and an obstacle, and control to reduce damage in the event of a collision. The steps include: detecting obstacles around the autonomous mobile body, A step of classifying the detected obstacles, A step of changing the range of the first defensive space based on the classified obstacles, The steps include: performing control of the movement of the autonomous mobile body, including collision control, in at least one of the cases where the obstacle is inside the first protective space and where the entry of the obstacle into the first protective space is predicted; An autonomous movement program that causes a computer to execute, In the step of classifying the detected obstacles, If the aforementioned obstacle is classified as a wheelchair, In the step of changing the range of the first defensive space, A second protective space is provided, which is the first protective space with a reduced width on the wheelchair side, and the second protective space is provided with a increased width on the side of the first protective space opposite the wheelchair. In the step of controlling the movement of the autonomous mobile body, The control of the movement of the autonomous mobile body, including collision control, is performed in at least one of the following cases: when the obstacle is inside the second protective space, or when the entry of the obstacle into the second protective space is predicted. Autonomous mobility program.

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