Mobile body control device and mobile body control method

Abstract

This mobile body control device comprises: a movement control unit (104) that controls the movement of a mobile body (1) so as to move the mobile body (1) along a preset movement path; a person detection unit (107) that detects a person around the mobile body (1); and an air blowing control unit (111) that controls an air blowing device (50) of the mobile body (1) so as to blow air toward a specific person detected by the person detection unit (107) while the mobile body (1) is moving along the movement path.

Description

Mobile Control Device and Mobile Control Method

[0001] The present disclosure relates to a mobile control device and a mobile control method.

[0002] Conventionally, an autonomous mobile robot has been disclosed that guides a user to a destination by autonomously moving while the user holds a steering wheel (see, for example, Patent Document 1). This autonomous mobile robot is configured to drive the wheels of the robot to move by receiving information related to movement from the outside through the steering wheel of the robot.

[0003] Japanese Unexamined Patent Application Publication No. 2022-076648

[0004] Generally, when guiding a user to a destination by a moving body that moves while the user holds a part of the moving body, there is a problem that it is difficult to improve convenience because one hand of the user is always blocked while receiving the guidance.

[0005] The present disclosure has been made in view of the recognition of the above problems, and an object thereof is to provide a mobile control device and a mobile control method that can improve user convenience more than before.

[0006] The mobile control device according to the present disclosure includes a movement control unit that controls the movement of a moving body so as to move the moving body along a preset movement path, a person detection unit that detects a person around the moving body, and a blowing control unit that controls a blowing device of the moving body so as to blow air toward a specific person detected by the person detection unit while the moving body is moving along the movement path.

[0007] The mobile control device according to the present disclosure can improve user convenience more than before.

[0008] This is a schematic diagram showing the operation of the mobile body according to Embodiment 1. This is a block diagram showing the general configuration of the mobile body according to Embodiment 1. This is a block diagram showing an example of the hardware configuration of the mobile body control device according to Embodiment 1. This is a block diagram showing an example of the hardware configuration of the mobile body control device according to Embodiment 1. This is a flowchart showing an example of the processing performed by the mobile body control device according to Embodiment 1. This is a block diagram showing the general configuration of the mobile body according to Embodiment 2. This is a flowchart showing an example of the processing performed by the mobile body control device according to Embodiment 2. This is a flowchart showing an example of the processing performed by the mobile body control device according to Embodiment 3. This is a flowchart showing an example of the processing performed by the mobile body control device according to Embodiment 4. This is a flowchart showing an example of the processing performed by the mobile body control device according to Embodiment 4.

[0009] Hereinafter, embodiments relating to this disclosure will be described in detail with reference to the drawings. Embodiment 1. First, the operation of the mobile body 1 according to Embodiment 1 will be described with reference to Figure 1. Figure 1 is a schematic diagram showing the operation of the mobile body 1 according to Embodiment 1. As shown in Figure 1, for example, the mobile body 1 according to Embodiment 1 is a device for guiding a user H1 to a predetermined destination M1.

[0010] For example, the mobile device 1 sets a travel route based on the destination set by user H1 and notifies user H1 that guidance by the mobile device 1 has begun. The mobile device 1 guides user H1 to destination M1 by moving along the set travel route, and upon reaching destination M1, it sends a destination arrival notification to user H1 indicating that it has reached destination M1. The mobile device 1 only needs to guide user H1 to the destination, and for example, the mobile device may have a limited range of movement, such as within a specific area, within a specific facility, or on a pre-set specific route, or it may not have a limited range of movement.

[0011] Next, with reference to Figure 2, the mobile body 1 according to Embodiment 1 will be described. Figure 2 is a block diagram showing the schematic configuration of the mobile body 1 according to Embodiment 1. As shown in Figure 2, the mobile body 1 according to Embodiment 1 includes a mobile device 20, an internal information acquisition device 30, an external information acquisition device 40, a blower device 50, a mobile body control device 100, and a power supply (not shown) that supplies power to the mobile body 1. In addition to the above configuration, the mobile body 1 may also include other configurations such as a communication device for communicating with external devices and an input device for receiving input operations from users.

[0012] The moving device 20 moves the mobile body 1. For example, the moving device 20 has a plurality of wheels that support the main body of the mobile body 1 and the blower 50, a drive source that drives one or more of these wheels, and a steering device that controls the direction of movement of the mobile body 1. The moving device 20 is configured to move the mobile body 1 in any direction by driving the plurality of wheels with the drive source and controlling the direction of movement of the mobile body 1 with the steering device. The drive source can be anything that drives the wheels, for example, a motor that operates by supplying electricity. The moving device can also be anything that is configured to move the mobile body, and may have a plurality of propellers that move the mobile body 1 in the air, and a drive source that drives these propellers. The moving device 20 is controlled based on a control signal from the mobile body control device 100.

[0013] The internal information acquisition device 30 acquires information obtained inside the mobile body 1. For example, the internal information acquisition device 30 acquires information regarding the amount of movement by the mobile device 20 and information regarding external forces acting on the mobile body 1. Specifically, the internal information acquisition device 30 has one or more sensors, including a rotation sensor for detecting the rotation speed of the wheels, an acceleration sensor for detecting the acceleration acting on the mobile body 1, and an angular velocity sensor for detecting the angular velocity acting on the mobile body 1. The internal information acquisition device 30 outputs the acquired information to the mobile body control device 100.

[0014] The external information acquisition device 40 acquires information from outside the mobile body 1. For example, the external information acquisition device 40 has an imaging device (not shown) and acquires imaging information by imaging the area around the mobile body 1.

[0015] The imaging device of the external information acquisition device 40, for example, has an image sensor (not shown) and a lens, and acquires imaging information by converting light captured from the lens into an electrical signal using the image sensor. The imaging device has an image sensor such as a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The imaging device may be configured to image a specific field of view, or it may be composed of a 360-degree camera, a hemispherical camera, a stereo camera, a 360-degree stereo camera, etc. Furthermore, the imaging device may be any device that acquires imaging information that represents visual information, and may be a camera that generates imaging information by detecting visible light, an infrared camera that generates imaging information by detecting infrared light, a thermal camera that generates imaging information by detecting infrared light, a millimeter-wave imaging radar that generates imaging information by detecting reflected millimeter waves output, or a device configured to acquire imaging information by LiDER (Light Detection and Ranging).

[0016] Furthermore, for example, the external information acquisition device 40 has a distance measuring sensor (not shown) for acquiring information regarding the distance between the moving body 1 and surrounding objects, and acquires information corresponding to the distance between the moving body 1 and surrounding objects. The distance measuring sensor is composed of, for example, a LiDER, millimeter-wave radar, ultrasonic sensor, infrared sensor, etc. Also, for example, the external information acquisition device 40 has a sound sensor for detecting sound around the moving body 1, and acquires information corresponding to the sound around the moving body 1.

[0017] Furthermore, for example, the external information acquisition device 40 has a wind speed sensor for measuring the wind speed around the moving body 1 and acquires information corresponding to the wind speed. Also, for example, the external information acquisition device 40 has a rainfall sensor for measuring the amount of rainfall at the location where the moving body 1 is located and acquires information corresponding to the amount of rainfall. The external information acquisition device 40 may be configured to acquire one of these pieces of information, or it may be configured to acquire a combination of these pieces of information.

[0018] The blower 50 is directional and blows air from the mobile body 1 in a specific direction to the outside. For example, the blower 50 has a rotatably supported fan, a drive source for rotating the fan, and a wind direction setting unit for setting the direction of airflow from the fan. As the fan rotates due to the drive source, it blows air in a specific direction set by the wind direction setting unit. For example, the wind direction setting unit sets the direction of airflow by changing the direction of the fan's central axis to an arbitrary direction. Alternatively, for example, the wind direction setting unit sets the direction of airflow by changing the direction of a duct that guides the airflow from the fan located inside the mobile body 1 to the outside of the mobile body 1 to an arbitrary direction. Alternatively, for example, the wind direction setting unit sets the direction of airflow by changing the direction of a wind deflector that guides the airflow from the fan to an arbitrary direction. The blower 50 is controlled based on information from the mobile body control device 100.

[0019] The blower is not limited to those described above; it may also be a blower that compresses the air taken in and sends it outwards, or it may be configured to blow air using a rotating rotor in addition to a rotating fan, or it may be configured to blow air using a linear compressor, diaphragm pump, etc. The blower 50 is controlled based on a control signal from the mobile device control device 100.

[0020] As shown in Figure 2, the mobile body control device 100 includes a movement path setting unit 103, a movement control unit 104, a person detection unit 107, a ventilation control unit 111, and a storage unit 114, and controls each component of the mobile body 1.

[0021] The movement path setting unit 103 sets the movement path of the mobile body 1. For example, the movement path setting unit 103 sets the movement path of the mobile body 1 by connecting the current location of the mobile body 1 and the destination with a path indicated by the map information, based on destination information indicating a destination selected by user H1 from among a plurality of pre-set destinations, positioning information from a positioning device (not shown) for positioning the mobile body 1, and map information acquired in advance. Note that the movement path setting unit 103 is not limited to setting the entire movement path to the destination before the mobile body 1 starts moving, but may be configured to set the movement path in stages over multiple steps, setting the movement path up to any waypoints that the mobile body 1 will pass through on its way to the destination. Alternatively, the movement path setting unit 103 may be configured to set only a single pre-set movement path.

[0022] The movement control unit 104 controls the movement device 20 by outputting control signals to the movement device 20. For example, the movement control unit 104 controls the movement of the movement body 1 so that it moves along a predetermined movement path. Specifically, the movement control unit 104 autonomously controls the movement of the movement body 1 by outputting control signals to the movement device 20 to control the drive source and steering device of the movement device 20 so that the movement body 1 moves along a movement path set by the movement path setting unit 103.

[0023] The person detection unit 107 detects people around the moving object 1 based on information from the external information acquisition device 40. For example, the person detection unit 107 detects people around the moving object 1 by extracting feature quantities from imaging information acquired by the imaging device of the external information acquisition device 40. In addition, by detecting people around the moving object 1, the person detection unit 107 acquires information regarding the position of those people relative to the moving object 1. For example, by detecting people around the moving object 1, the person detection unit 107 acquires information indicating the direction of those people relative to the moving object 1.

[0024] The airflow control unit 111 controls the operation of the air blower 50 by outputting control signals to the air blower 50. For example, the airflow control unit 111 controls the air blower 50 to blow air towards a person detected by the person detection unit 107 while the mobile body 1 is moving along the movement path. Specifically, the airflow control unit 111 controls the air blower 50 to blow air towards a person detected by the person detection unit 107 by outputting control signals to the air blower 50 to control the airflow direction setting unit of the air blower 50. For example, the airflow control unit 111 controls the air blower to blow air towards a specific person located upstream of the mobile body 1 along the movement path while the mobile body 1 is moving along the movement path. The airflow control unit 111 may also be configured to detect the location of a specific part of the person's body, such as the face, hands, or other exposed skin, based on imaging information obtained by imaging the person detected by the person detection unit 107, and to blow air towards that specific part using the air blower 50.

[0025] The storage unit 114 stores information used in processing performed by the mobile device control device 100, and information indicating the results of processing performed by the mobile device control device 100. For example, the storage unit 114 stores information indicating a set travel route, map information of the area to which the mobile device 1 moves, and other information. The information stored in the storage unit 114 is referenced and read out as needed by other components of the mobile device control device 100.

[0026] Next, the hardware configuration of the mobile control device 100 will be described with reference to Figures 3 and 4. Figure 3 is a diagram showing an example of the hardware configuration of the mobile control device 100, and Figure 4 is a diagram showing a different example of the hardware configuration of the mobile control device 100 from Figure 3. For example, as shown in Figure 3, the mobile control device 100 is configured as a computer having a processor 100a, memory 100b, and I / O port 100c, and is configured so that the processor 100a reads and executes a program stored in memory 100b. Memory 100b is composed of, for example, RAM (Random Access Memory), ROM (Read Only Memory), flash memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc.

[0027] Furthermore, as shown in Figure 4, for example, the mobile device control unit 100 is configured as a computer that executes programs, having a dedicated hardware processing circuit 100d and an I / O port 100c. The processing circuit 100d is composed of, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Each function of the mobile device control unit 100 is realized by these processors 100a or the dedicated hardware processing circuit 100d executing programs. The mobile device control unit 100 may also have hardware other than those described above, such as a hardware timer.

[0028] Next, with reference to Figures 2 and 5, the details of the processing performed by the mobile body control device 100 according to Embodiment 1 will be described. Figure 5 is a flowchart showing an example of the processing performed by the mobile body control device 100 according to Embodiment 1. The processing performed by the mobile body control device 100 according to Embodiment 1 shown in Figure 5 is the process of moving the mobile body 1 along the movement path while blowing air towards a person guided by the blower device 50.

[0029] As shown in Figure 5, when the mobile object control device 100 starts processing, it first sets the movement path (step ST04). In this process, the mobile object control device 100 refers to information stored in the memory unit 114, for example, to set the movement path for the mobile object 2 to move from its current position to its destination.

[0030] When the mobile object control device 100 performs the processing in step ST04, it determines whether or not it has detected a person (step ST05). In this process, the mobile object control device 100 determines whether or not it has detected a person around the mobile object 1 based on the detection result by the person detection unit 107.

[0031] If a person is detected in step ST05 (NO in step ST05), the mobile object control device 100 repeats the process of step ST05 and continues searching for a person until a person is detected. If a person is detected in step ST05 (YES in step ST05), the mobile object control device 100 starts blowing air towards the detected person (step ST06). In this process, the mobile object control device 100 blows air towards the specific person detected in step ST05 using the blower 50, making it easier for the person to grasp the position of the mobile object 1 without relying solely on their vision.

[0032] When the mobile object control device 100 completes the process in step ST06, it causes the mobile object 1 to start moving (step ST07). In this process, the mobile object control device 100 starts moving the mobile object 1 in order to guide the person detected in the process of step ST05 along the movement path.

[0033] When the mobile object control device 100 performs the processing in step ST07, it determines whether the position of the person relative to the mobile object 1 has changed (step ST08). In this process, the mobile object control device 100 determines whether the position of the person relative to the mobile object 1 has changed based on the detection result of the person detection unit 107, since the relative velocity of the person relative to the mobile object 1 is not zero.

[0034] If the position of the person relative to the moving body 1 changes during the process in step ST08 (YES in step ST08), the moving body control device 100 adjusts the direction of the airflow (step ST09). In this process, the moving body control device 100 controls the airflow device 50 so that the airflow from the airflow device 50 is directed towards the person, based on the change in the person's position relative to the moving body 1.

[0035] If the position of the person relative to the moving body 1 has not changed in the process of step ST08 (NO in step ST08), and if the process of step ST09 has been performed, the moving body control device 100 determines whether or not the termination condition has been met (step ST28). In this process, the moving body control device 100 determines whether or not the termination condition, which is the trigger for ending the process, has been met. For example, the moving body control device 100 determines that the termination condition has been met when it obtains information from the external information acquisition device 40 indicating that the person has reached the destination to which the moving body 1 is guiding them.

[0036] If the termination condition is not met in step ST28 (NO in step ST28), the mobile body control device 200 returns to step ST08. If the termination condition is met in step ST28 (YES in step ST28), the mobile body control device 100 terminates the movement of the mobile body 1 (step ST29) and terminates the blowing by the blower 50 (step ST30).

[0037] As described above, the mobile body control device 100 according to Embodiment 1 includes a movement control unit 104 that controls the movement of the mobile body 1 so as to move the mobile body 1 along a preset movement path, a person detection unit 107 that detects people around the mobile body 1, and a blower control unit 111 that controls the blower device 50 of the mobile body 1 so as to blow air toward a specific person detected by the person detection unit 107 while the mobile body 1 is moving along the movement path.

[0038] With this configuration, the mobile device control system 100 allows users, for example, those with insufficient vision or field of view, to understand the position of the mobile device 1 without touching it or relying on their vision. This improves user convenience when being guided by the mobile device 1 compared to conventional methods. This is particularly effective in improving convenience for users who are holding a cane, luggage, a mobile device, etc., when being guided by the mobile device 1.

[0039] Furthermore, the mobile body control device 100 according to Embodiment 1 is configured to control the blower so that, when the mobile body 1 is moving along the movement path, it blows air towards a specific person located upstream of the mobile body along the movement path.

[0040] With this configuration, the mobile body control device 100 can blow air onto a specific person located upstream of the movement path so as to follow the mobile body 1.

[0041] In Embodiment 1, the mobile object control device 100 is configured to allow the user to understand the position of the mobile object 1 by blowing air with the blower device 50, but it is not limited to this. The mobile object control device may be configured to make it easier for the user to understand the position of the mobile object 1 by other configurations. For example, the mobile object control device may be configured to make it easier for the user to understand the position of the mobile object by controlling the mobile object to emit sound using an alarm device provided on the mobile object, in addition to blowing air with the blower device, or it may be configured to make it easier for the user to understand the position of the mobile object by controlling the mobile object to emit light using a light source provided on the mobile object, in addition to blowing air with the blower device.

[0042] Further, the moving body may be configured to make it easier for the user to grasp the position of the moving body based on senses other than vision by making the air sent out by the blower have a temperature or smell different from that of the surrounding air. For example, the moving body can be configured such that the air sent out by the blower passes through the heat source of the moving body, so that the air with a temperature higher than that of the surrounding air can be sent out. Also, for example, the moving body can be configured such that the air sent out by the blower is sent out together with a liquid or gas having a fragrance held inside the moving body, so that the air with a smell different from that of the surrounding air can be sent out.

[0043] Further, when guiding the user by the moving body 1, the moving body control device 100 may be configured to set whether to cause the blower device 50 of the moving body 1 to blow air in a state where the moving body 1 is moving based on an input operation from the user.

[0044] Embodiment 2. Next, referring to FIGS. 6 and 7, the moving body 2 according to Embodiment 2 will be described. The moving body 2 according to Embodiment 2 has some different configurations from the moving body 1 according to Embodiment 1, but the other configurations are the same. For the same configurations as those in Embodiment 1, the same names and reference numerals as those in Embodiment 1 will be given and the description will be omitted.

[0045] As shown in FIG. 6, the moving body 2 according to Embodiment 2 includes a positioning device 10, a moving device 20, an internal information acquisition device 30, an external information acquisition device 40, a blower device 50, a communication device 70, and a moving body control device 200.

[0046] The positioning device 10 acquires information for positioning the moving body 1. For example, the positioning device 10 has a GNSS (Global Navigation Satellite System) receiver (not shown) and receives GNSS signals from GPS (Global Positioning System) satellites. Also, for example, the positioning device 10 receives radio waves for positioning the moving body 1 from a plurality of antennas installed in advance around the moving body 1. Further, for example, the positioning device 10 has an imaging device (not shown) that images the surroundings of the moving body 1, and acquires imaging information as visual information of the surroundings of the moving body 1 by imaging the surroundings of the moving body 1 as information for positioning the moving body 1. Note that the details of the imaging device are the same as those of the imaging device included in the external information acquisition device 40 in Embodiment 1, and thus the description thereof is omitted.

[0047] The positioning device 10 may be configured to acquire any one of the above-described information, or may be configured to acquire a plurality of pieces of information among these. Also, the positioning device 10 may be configured independently of the external information acquisition device 40, or may be configured to achieve the functions of the positioning device 10 and the external information acquisition device 40 in one configuration by sharing some configurations. The positioning device 10 outputs the acquired information toward the moving body control device 100.

[0048] The communication device 70 communicates between the moving body 2 and a device outside the moving body 2. For example, the communication device 70 has an antenna (not shown) for transmitting and receiving information and an analog-to-digital converter for converting analog information received by the antenna into digital information, and communicates with either or both of an external device and a user terminal (not shown) owned by the user by short-range wireless communication or long-range wireless communication. Note that the communication device 70 may be configured independently of the positioning device 10, or may be configured to achieve the functions of the positioning device 10 and the communication device 70 in one configuration by sharing some configurations.

[0049] As shown in Figure 6, the mobile device control device 200 includes a positioning information acquisition unit 101, a destination information acquisition unit 102, a movement route setting unit 123, a movement control unit 124, an imaging information acquisition unit 105, an identification information acquisition unit 106, a person detection unit 107, a person determination unit 109, a distance information acquisition unit 110, a fan control unit 121, and a storage unit 114.

[0050] The positioning information acquisition unit 101 acquires positioning information indicating the position of the mobile object 1 based on information from the positioning device 10. For example, the positioning information acquisition unit 101 acquires positioning information indicating the absolute position of the mobile object 1 and time information indicating the time based on the GNSS signal received by the positioning device 10. Alternatively, for example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the mobile object 1 based on the difference in reception times of radio waves received by the positioning device 10 from a plurality of pre-installed antennas. Alternatively, for example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the mobile object 1 based on the direction of the mobile object 1 relative to a plurality of antennas calculated based on the difference in reception times of radio waves received by the positioning device 10 from a plurality of pre-installed antennas, and information indicating the positions of these plurality of antennas that has been acquired in advance. Furthermore, for example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the mobile body 1 based on the distance from the multiple antennas to the mobile body 1, which is calculated based on the reception time of radio waves received by the positioning device 10 from the multiple antennas that have been installed in advance, and information indicating the positions of these multiple antennas that has been acquired in advance.

[0051] Furthermore, for example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the moving object 1 based on imaging information acquired by the positioning device 10 having an imaging device. Specifically, the positioning information acquisition unit 101 acquires positioning information indicating the position of the moving object 1 based on a specific image included in the imaging information and information indicating the position of the specific image that has been acquired in advance. For example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the moving object 1 based on an image showing the relative position between a specific piece of equipment included in the imaging information and the moving object 1, and information indicating the position of the specific piece of equipment that has been acquired in advance. For example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the moving object 1 based on an image showing the relative position between a specific sign included in the imaging information and the moving object 1, and information indicating the position of the specific sign that has been acquired in advance. Such a specific sign may be one that is installed on the floor, road surface, wall surface, etc. for the purpose of positioning the moving object 1, or it may be a sign that is installed for other purposes, such as a traffic sign.

[0052] The destination information acquisition unit 102 acquires destination information indicating the destination of the mobile body 1. For example, the destination information acquisition unit 102 acquires destination information indicating the destination to which the mobile body 1 will guide user H1 by providing information indicating the destination selected by user H1 from among a plurality of pre-set destinations (see Figure 1). For example, the destination information acquisition unit 102 acquires destination information indicating the destination selected by user H1 from among a plurality of pre-set destinations based on information acquired from the user terminal via an external device (not shown) or an external communication network, or information acquired directly from the user terminal by short-range wireless communication. Alternatively, for example, the destination information acquisition unit 102 acquires destination information indicating the destination of the mobile body 1 based on user H1's input operation to an input device (not shown) on the mobile body 1. For example, the input device is configured as a touch panel.

[0053] The movement path setting unit 123 sets the movement path of the mobile body 2 based on the positioning information acquired by the positioning information acquisition unit 101 and the destination information acquired by the destination information acquisition unit 102. For example, the movement path setting unit 123 sets the movement path of the mobile body 2 by connecting the location where the mobile body 2 is located and the destination with a path indicated by the map information, based on the positioning information acquired by the positioning information acquisition unit 101, the destination information acquired by the destination information acquisition unit 102, and pre-acquired map information. Note that the movement path setting unit 123 is not limited to setting the entire movement path to the destination before the mobile body 2 starts moving, but may also be configured to set the movement path in stages over multiple steps, such as setting the movement path to any waypoints that the mobile body 2 will pass through on its way to the destination.

[0054] The movement control unit 124 controls the movement device 20 by outputting control signals to the movement device 20. For example, when the movement control unit 124 moves the mobile body 1 to a destination along a movement path set by the movement path setting unit 103 based on distance information acquired by the distance information acquisition unit 110, the movement control unit 124 autonomously controls the movement of the mobile body 1 by controlling the movement device 20 so that the distance between the user guided by the mobile body 2 and the mobile body 2 is within a preset range.

[0055] The imaging information acquisition unit 105 acquires imaging information of the surroundings of the moving body 2 based on information from the external information acquisition device 40.

[0056] The identification information acquisition unit 106 acquires identification information for identifying the user H1 guided by the mobile body 2. For example, based on information from the external information acquisition device 40, the identification information acquisition unit 106 acquires information indicating the external characteristics of user H1 as identification information. For example, information indicating the external characteristics of user H1 may include information indicating the external characteristics of the face, information indicating the skeletal characteristics estimated from the appearance, information indicating the characteristics of the gait, and information indicating the size of the body. The identification information acquisition unit 106 may be configured to acquire one of these pieces of information, or it may be configured to acquire multiple pieces of this information.

[0057] The person determination unit 109 determines, based on the identification information acquired by the identification information acquisition unit 106, whether the person detected by the person detection unit 107 is user H1 guided by the mobile body 2. In Embodiment 2, user H1 guided by the mobile body 2 is also referred to as a "specific person". For example, the person determination unit 109 determines whether the person detected by the person detection unit 107 is a specific person by comparing the identification information indicating the external characteristics of the specific person acquired by the identification information acquisition unit 106 with the imaging information of people around the mobile body 2 acquired by the external information acquisition device 40. Alternatively, for example, the person determination unit 109 determines whether the person detected by the person detection unit 107 is a specific person by comparing the identification information acquired by the identification information acquisition unit 106 with information acquired from user terminals around the mobile body 2 via short-range wireless communication by the communication device 70.

[0058] The distance information acquisition unit 110 acquires distance information indicating the distance between the moving body 2 and surrounding objects. For example, the distance information acquisition unit 110 acquires distance information indicating the distance between the moving body 2 and a person detected by the person detection unit 107 based on information from the external information acquisition device 40. Specifically, the distance information acquisition unit 110 acquires distance information indicating the distance between the moving body 2 and a person detected by the person detection unit 107 based on information from the distance measuring sensor of the external information acquisition device 40. Alternatively, the unit may be configured to acquire distance information indicating the distance between the moving body 2 and surrounding objects based on imaging information acquired by the imaging information acquisition unit 105. For example, the distance information acquisition unit 110 may be configured to acquire distance information indicating the distance between the moving body 2 and a specific person by comparing the height of a specific person indicated by pre-acquired personal information of that specific person with the size of the specific person indicated by the imaging information, or it may be configured to acquire distance information indicating the distance between the moving body 2 and surrounding objects based on imaging information from a stereo camera of the external information acquisition device 40 acquired by the imaging information acquisition unit 105.

[0059] The airflow control unit 121 controls the operation of the airflow device 50 by outputting control signals to the airflow device 50. For example, when the mobile body 2 is moving along its path, the airflow control unit 121 controls the airflow device 50 to blow air towards a specific person determined by the person determination unit 109 from among a group of people detected by the person detection unit 107. Specifically, the airflow control unit 121 controls the airflow device 50 to blow air towards a specific person from among a group of people detected by the person detection unit 107 by outputting control signals to the airflow direction setting unit of the airflow device 50.

[0060] The hardware configuration of the mobile device control device 200 according to Embodiment 2 is the same as that of the mobile device control device 100 according to Embodiment 1, so its description will be omitted.

[0061] Next, with reference to Figures 6 and 7, the details of the processing performed by the mobile body control device 200 according to Embodiment 2 will be described. Figure 7 is a flowchart showing an example of the processing performed by the mobile body control device 200 according to Embodiment 2. The processing performed by the mobile body control device 200 according to Embodiment 2 shown in Figure 7 is the process of moving the mobile body 2 along the movement path while blowing air towards a person guided by the blower device 50. Note that some of the processing performed by the mobile body control device 200 according to Embodiment 2 is the same as the processing performed by the mobile body control device 100 according to Embodiment 1, and the explanation of processing that is the same as in Embodiment 1 will be omitted.

[0062] As shown in Figure 7, when the mobile device control unit 200 starts processing, it first acquires destination information (step ST01). In this process, the mobile device control unit 200 acquires destination information indicating the destination to which the mobile device 2 will be moved by the destination information acquisition unit 102. The destination information may be information indicating the latitude and longitude of the destination, information indicating the address of the destination, or coordinates indicating the destination in a specific coordinate system that has been set in advance.

[0063] When the mobile object control device 200 performs the processing in step ST01, it acquires positioning information (step ST02). In this process, the mobile object control device 200 acquires positioning information indicating the current position of the mobile object 2 based on the information from the positioning device 10. The positioning information may be information indicating the latitude and longitude of the current position of the mobile object 2, information indicating the address of the current position of the mobile object 2, or coordinates indicating the current position of the mobile object 2 in a specific coordinate system that has been set in advance.

[0064] When the mobile object control device 200 performs the processing in step ST02, it determines whether or not a travel path has been set (step ST03). In this process, the mobile object control device 200 determines whether or not a travel path has been set to move the mobile object 2 to the destination, for example, whether or not the mobile object 2 is in the process of guiding a specific person to the destination.

[0065] If a travel path has not been set in step ST03 (NO in step ST03), the mobile device control unit 200 sets a travel path (step ST04). In this process, the mobile device control unit 200 sets a travel path for the mobile device 2 to move from its current position to its destination, based on the destination information acquired in step ST01 and the positioning information acquired in step ST02.

[0066] When the mobile object control device 200 performs the processing in step ST04, it determines whether or not a person has been detected (step ST05). If a person is detected in the processing of step ST05 (NO in step ST05), the mobile object control device 100 repeats the processing of step ST05 and continues searching for a person until a person is detected. If a person is detected in the processing of step ST05 (YES in step ST05), the mobile object control device 100 starts blowing air toward the detected specific person (step ST06). When the mobile object control device 200 performs the processing in step ST06, it starts moving the mobile object 2 (step ST07). In this process, the mobile object control device 200 starts moving the mobile object 2 in order to guide the person detected in the processing of step ST05 along the movement path. The mobile object control device 200 may also be configured to acquire information indicating the external characteristics of the detected specific person as identification information by imaging the detected specific person at the same time as starting guidance by the mobile object 2. When the mobile body control device 200 performs the processing in step ST07, it determines whether the position of the person relative to the mobile body 2 has changed (step ST08). If the position of the person relative to the mobile body 2 has changed in the processing of step ST08 (YES in step ST08), the mobile body control device 200 adjusts the direction of the airflow (step ST09).

[0067] When the mobile device control unit 200 performs the processing in step ST09, it determines whether the distance between the specific person and the mobile device 2 is greater than or equal to a preset first threshold (step ST10). When guiding a specific person with the mobile device 2, for example, if the distance between the specific person and the mobile device 2 becomes too large because the speed of the mobile device 2 is greater than the walking speed of the specific person, the specific person may not be able to grasp the position of the mobile device 2. For this reason, in the processing of step ST10, the mobile device control unit 200 determines whether the distance between the specific person and the mobile device 2 is greater than or equal to a preset first threshold to determine whether the distance between the specific person and the mobile device 2 is not too large. For example, the first threshold is set to 1m.

[0068] In step ST10, if the distance between the specific person and the moving object 2 is greater than or equal to a first threshold (YES in step ST10), the moving object control device 200 temporarily stops the movement of the moving object 2 (step ST11). In this process, the moving object control device 200 temporarily stops the movement of the moving object 2, so that even if the speed of the moving object 2 is greater than the walking speed of the specific person, the specific person can catch up to the moving object 2.

[0069] When the mobile object control device 200 performs the processing in step ST11, it determines whether the distance between the specific person and the mobile object 2 is less than a pre-set second threshold (step ST12). In this process, the mobile object control device 200 determines whether the distance between the specific person and the mobile object 2 has fallen below the second threshold, which is the distance at which the specific person can adequately grasp the position of the mobile object 2. For example, the second threshold is set to 2m. The second threshold may be set to the same value as the first threshold, or to a different value from the first threshold, but it is desirable that it be less than or equal to the first threshold.

[0070] In step ST12, if the distance between the specific person and the moving object 2 is not less than the second threshold (NO in step ST12), the moving object control device 200 repeats the process of step ST12 and maintains the state in which the moving object 2 is stopped until the distance between the specific person and the moving object 2 is less than the second threshold. In step ST12, if the distance between the specific person and the moving object 2 is less than the second threshold (YES in step ST12), the moving object control device 200 resumes the movement of the moving object 2 (step ST13). In this process, the moving object control device 200 resumes the movement of the moving object 2 based on the fact that the distance between the specific person and the moving object 2 has become sufficiently small.

[0071] If, in the process of step ST10, the distance between the specific person and the moving object is not greater than or equal to the first threshold (NO in step ST10), and if the process of step ST13 is performed, the moving object control device 200 determines whether or not the termination condition has been met (step ST28). If, in the process of step ST28, the termination condition has not been met (NO in step ST28), the moving object control device 200 returns to the process of step ST02. If, in the process of step ST28, the termination condition has been met (YES in step ST28), the moving object control device 200 terminates the movement of the moving object 2 (step ST29) and terminates the blowing by the blower 50 (step ST30).

[0072] As described above, the mobile device control device 200 according to Embodiment 2 includes a positioning information acquisition unit 101 that acquires positioning information of a mobile device 2, a destination information acquisition unit 102 that acquires information indicating the destination of a specific person, and a mobile path setting unit 123 that sets a mobile path based on the positioning information acquired by the positioning information acquisition unit 101 and the destination information acquired by the destination information acquisition unit 102.

[0073] With this configuration, the mobile device control system 200 can guide a specific person along a highly flexible travel path based on the position of the mobile device 2 and information indicating the destination to which the person is being guided.

[0074] Furthermore, the mobile body control device 200 according to Embodiment 2 includes a distance information acquisition unit 110 that acquires distance information indicating the distance between the mobile body 2 and a specific person, and the movement control unit 124 is configured to control the movement of the mobile body 2 based on the distance information acquired by the distance information acquisition unit 110 so that the distance between the mobile body 2 and the specific person is within a preset range.

[0075] With this configuration, the mobile device control device 200 makes it easier for a specific person to feel the airflow and for that person to understand the position of the mobile device 2.

[0076] Embodiment 3. Next, the mobile body 3 according to Embodiment 3 will be described with reference to Figures 6 and 8. The mobile body 3 according to Embodiment 3 differs from the mobile body 2 according to Embodiment 2 in some functions of the air blower control unit, but the other configurations are the same, and the same names and reference numerals as in Embodiment 2 will be used for the same configurations as in Embodiment 2 and their descriptions will be omitted.

[0077] As shown in Figure 6, the mobile body 3 according to Embodiment 3 includes a positioning device 10, a mobile device 20, an internal information acquisition device 30, an external information acquisition device 40, a blower device 50, a communication device 70, and a mobile body control device 300.

[0078] As shown in Figure 6, the mobile device control device 300 includes a positioning information acquisition unit 101, a destination information acquisition unit 102, a movement route setting unit 123, a movement control unit 124, an imaging information acquisition unit 105, an identification information acquisition unit 106, a person detection unit 107, a person determination unit 109, a distance information acquisition unit 110, a fan control unit 131, and a storage unit 114.

[0079] The airflow control unit 131 controls the air blower 50 so that the airflow pattern changes based on the distance information acquired by the distance information acquisition unit 110. For example, the airflow control unit 131 controls the air blower 50 so that the strength of the airflow changes periodically based on the distance information acquired by the distance information acquisition unit 110. Specifically, the airflow control unit 131 controls the air blower 50 so that the period of the airflow strength changes according to the distance between the moving object 3 and the specific person, based on the distance information acquired by the distance information acquisition unit 110. In other words, the airflow control unit 131 controls the air blower 50 so that the strength of the airflow changes in a first period when the distance between the moving object 3 and the specific person is a first distance, and controls the air blower 50 so that the strength of the airflow changes in a second period when the distance between the moving object 3 and the specific person is a second distance.

[0080] Furthermore, for example, based on the distance information acquired by the distance information acquisition unit 110, the air blower control unit 131 controls the air blower 50 so that the air blower strength changes periodically from a constant state to a state where the air blower strength changes periodically when the distance between the moving object 3 and the specific person detected by the person detection unit 107 changes from a state where it is above a preset third threshold to a state where it is below the third threshold. For example, the third threshold is set to a smaller value than the second threshold according to Embodiment 2.

[0081] Furthermore, for example, the airflow control unit 131 controls the airflow device 50 to change the airflow strength when the distance between the moving object 3 and the specific person detected by the person detection unit 107 changes from a state where it is above a preset third threshold to a state where it is below the third threshold, based on the distance information acquired by the distance information acquisition unit 110. Specifically, the airflow control unit 131 controls the airflow device 50 to increase the airflow strength when the distance between the moving object 3 and the specific person detected by the person detection unit 107 changes from a state where it is above a preset third threshold to a state where it is below the third threshold, based on the distance information acquired by the distance information acquisition unit 110.

[0082] The hardware configuration of the mobile device control device 300 according to Embodiment 3 is the same as that of the mobile device control device 100 according to Embodiment 1, so its description will be omitted.

[0083] Next, with reference to Figures 6 and 8, the details of the processing performed by the mobile body control device 300 according to Embodiment 3 will be described. Figure 8 is a flowchart showing an example of the processing performed by the mobile body control device 300 according to Embodiment 3. The processing performed by the mobile body control device 300 according to Embodiment 3 shown in Figure 8 is the process of moving the mobile body 3 along the movement path while blowing air towards a person guided by the blower device 50. Note that some of the processing performed by the mobile body control device 300 according to Embodiment 3 is the same as the processing performed by the mobile body control device 300 according to Embodiment 2, and the explanation of the processing that is the same as in Embodiment 2 will be omitted.

[0084] As shown in Figure 8, when the mobile device control unit 300 starts processing, it first acquires destination information (step ST01). After performing the processing in step ST01, the mobile device control unit 300 acquires positioning information (step ST02). After performing the processing in step ST02, the mobile device control unit 300 determines whether or not a travel route has already been set (step ST03). If the travel route has not been set in the processing of step ST03 (NO in step ST03), the mobile device control unit 300 sets a travel route (step ST04). After performing the processing in step ST04, the mobile device control unit 300 determines whether or not a person has been detected (step ST05). If a person has been detected in the processing of step ST05 (NO in step ST05), the mobile device control unit 100 repeats the processing of step ST05 and continues searching for a person until a person is detected.

[0085] If a person is detected in step ST05 (YES in step ST05), the mobile device control unit 100 starts blowing air towards the detected person (step ST06). After performing the process in step ST06, the mobile device control unit 300 starts moving the mobile device 3 (step ST07). If a movement path has already been set in the process of step ST03 (YES in step ST03), and after performing the process in step ST07, the mobile device control unit 300 determines whether the person's position relative to the mobile device 3 has changed (step ST08). If the person's position relative to the mobile device 3 has changed in the process of step ST08 (YES in step ST08), the mobile device control unit 300 adjusts the direction of the airflow (step ST09).

[0086] If the position of the person relative to the moving object 3 has not changed in the process of step ST08 (NO in step ST08), and if the process of step ST09 has been performed, the mobile object control device 300 determines whether the distance between the specific person and the moving object 3 is greater than or equal to a preset first threshold (step ST10). If the distance between the specific person and the moving object 3 is greater than or equal to the first threshold in the process of step ST10 (YES in step ST10), the mobile object control device 300 temporarily stops the movement of the moving object 3 (step ST11). After performing the process of step ST11, the mobile object control device 300 determines whether the distance between the specific person and the moving object 3 is less than a preset second threshold (step ST12). If the distance between the specific person and the moving object 3 is not less than the second threshold in the process of step ST12 (NO in step ST12), the mobile object control device 300 repeats the process of step ST12 and maintains the state in which the moving object 3 is stopped until the distance between the specific person and the moving object 3 is less than the second threshold. If, in the process of step ST12, the distance between the specific person and the moving object 3 is less than the second threshold (YES in step ST12), the moving object control device 300 resumes the movement of the moving object 3 (step ST13).

[0087] In step ST10, if the distance between the specific person and the moving object is not greater than or equal to the first threshold (NO in step ST10), and if step ST13 is performed, the mobile object control device 300 determines whether the distance between the specific person and the moving object 3 is less than the third threshold (step ST14). In this process, the mobile object control device 300 determines whether there is a risk of contact between the specific person and the moving object 3 due to the small distance between them. For example, the third threshold is set to 0.5 m.

[0088] If the distance between the specific person and the moving object 3 is less than the third threshold (YES in step ST14), the moving object control device 300 sets the airflow mode to the first mode and causes the air blower 50 to blow air in the first mode (step ST15).

[0089] If the distance between the specific person and the moving object 3 is not less than the third threshold (NO in step ST14), the moving object control device 300 sets the airflow mode to the second mode and causes the air blower 50 to blow air in the second mode (step ST16).

[0090] If the process in step ST15 is performed, or if the process in step ST16 is performed, the mobile body control device 300 determines whether or not the termination condition has been met (step ST28). If the termination condition has not been met in the process in step ST28 (NO in step ST28), the mobile body control device 300 returns to the process in step ST02. If the termination condition has been met in the process in step ST28 (YES in step ST28), the mobile body control device 300 terminates the movement of the mobile body 3 (step ST29) and terminates the blowing by the blower 50 (step ST30).

[0091] As described above, the mobile device control device 300 according to Embodiment 3 controls the blower so that the blowing mode changes based on the distance information acquired by the distance information acquisition unit.

[0092] With this configuration, the mobile object control device 300 makes it possible for a specific person to perceive changes in the distance to the mobile object 3 based on their sense of touch, making it easier for that person to understand the position of the mobile object 3.

[0093] Furthermore, the mobile device control device 300 according to Embodiment 3 controls the blower so that the strength of the blower changes periodically based on the distance information acquired by the distance information acquisition unit.

[0094] For example, the mobile object control device 300 according to Embodiment 3 is configured to control the fan device so that when the distance between the mobile object and the person detected by the person detection unit changes from a state where the fan strength is constant to a state where the fan strength changes periodically, based on the distance information acquired by the distance information acquisition unit, the distance between the mobile object and the person detected by the person detection unit changes from a state where it is above a preset threshold to a state where it is below the threshold.

[0095] With this configuration, the mobile device control unit 300 makes it easier for a specific person to perceive changes in the airflow pattern compared to a case where the strength of the airflow changes according to distance, and makes it easier for a specific person to grasp the position of the mobile object 3.

[0096] Furthermore, the mobile object control device is not limited to one that changes the airflow mode of the fan based on the distance between the mobile object and a specific person. For example, the mobile object control device may be configured to change the airflow mode of the fan based on weather information acquired from an external information acquisition device. Specifically, the mobile object control device may be configured to change the airflow mode of the fan based on information indicating wind speed around the mobile object acquired from an external information acquisition device, such that the airflow strength is greater when the wind speed is greater than when it is less than a specific speed. Alternatively, the device may be configured to change the airflow mode of the fan based on information indicating wind speed and wind direction around the mobile object acquired from an external information acquisition device, such that the airflow strength is greater when the wind is blowing from the position of a specific person towards the position of the mobile object than when there is no wind or when the wind is blowing from the position of the mobile object towards the position of the specific person. Finally, the device may be configured to change the airflow mode of the fan based on information indicating rainfall around the mobile object acquired from an external information acquisition device, such that the airflow strength is greater when it is raining than when it is not raining.

[0097] Embodiment 4. Next, the mobile body 4 according to Embodiment 4 will be described with reference to Figures 6, 9, and 10. The mobile body 4 according to Embodiment 4 differs from the mobile body 3 according to Embodiment 3 in its configuration related to the function for setting a new movement path during movement, but other configurations are the same, and the same names and reference numerals as in Embodiment 3 will be used and their descriptions will be omitted.

[0098] As shown in Figure 6, the mobile body 4 according to Embodiment 4 includes a positioning device 10, a mobile device 20, an internal information acquisition device 30, an external information acquisition device 40, a blower device 54, a communication device 70, and a mobile body control device 400.

[0099] The blower 54 is configured to blow air in multiple directions relative to the moving body 4. For example, the blower 54 has multiple fans that can blow air in different directions from each other. Alternatively, for example, the blower 54 has multiple ducts that guide the air blown out by one fan in different directions from each other.

[0100] As shown in Figure 6, the mobile device control device 400 includes a positioning information acquisition unit 101, a destination information acquisition unit 102, a movement route setting unit 143, a movement control unit 144, an imaging information acquisition unit 105, an identification information acquisition unit 106, a person detection unit 107, a person determination unit 149, a distance information acquisition unit 110, a fan control unit 141, and a storage unit 114.

[0101] The movement path setting unit 143 sets a new movement path when the moving object 4 is moving along a set movement path and it detects a person other than the specific person who is being guided by the moving object 4. Details of the function by which the movement path setting unit 143 sets a new movement path will be described later.

[0102] The person determination unit 149 determines, based on the identification information acquired by the identification information acquisition unit 106, whether the person detected by the person detection unit 107 is user H1 being guided by the mobile body 4. In this embodiment 4, user H1 being guided by the mobile body 4 is also referred to as the "specific person," and any person other than the user being guided by the mobile body 4 is also referred to as "other person."

[0103] The airflow control unit 141 controls the air blower 54 to blow air in a first direction directed towards a specific person and in a second direction different from the first direction. Details of the function by which the airflow control unit 141 controls the air blower 54 to blow air in multiple directions will be described later.

[0104] The hardware configuration of the mobile device control device 400 according to Embodiment 4 is the same as that of the mobile device control device 100 according to Embodiment 1, so its description will be omitted.

[0105] Next, with reference to Figures 6, 9, and 10, the details of the processing performed by the mobile body control device 400 according to Embodiment 4 will be described. Figures 9 and 10 are flowcharts showing an example of the processing performed by the mobile body control device 400 according to Embodiment 4. The processing performed by the mobile body control device 400 according to Embodiment 4 shown in Figures 9 and 10 is the process of moving the mobile body 4 along the movement path while blowing air towards the person guided by the blower 54 and other people. Note that some of the processing performed by the mobile body control device 400 according to Embodiment 4, as shown in Figures 9 and 10, is the same as the processing performed by the mobile body control device 300 according to Embodiment 3, and the explanation of the processing that is the same as in Embodiment 3 will be omitted.

[0106] As shown in Figures 9 and 10, when the mobile device control unit 400 starts processing, it first acquires destination information (step ST01). After performing the processing in step ST01, the mobile device control unit 400 acquires positioning information (step ST02). After performing the processing in step ST02, the mobile device control unit 400 determines whether or not a travel route has already been set (step ST03). If the travel route has not been set in the processing of step ST03 (NO in step ST03), the mobile device control unit 400 sets a travel route (step ST04). After performing the processing in step ST04, the mobile device control unit 400 determines whether or not a person has been detected (step ST05). If a person has been detected in the processing of step ST05 (NO in step ST05), the mobile device control unit 100 repeats the processing of step ST05 and continues searching for a person until a person is detected.

[0107] If a person is detected in step ST05 (YES in step ST05), the mobile device control unit 100 starts blowing air toward the detected person (step ST06). After performing the process in step ST06, the mobile device control unit 400 starts moving the mobile body 4 (step ST07). If a movement path has already been set in the process in step ST03 (YES in step ST03), and after performing the process in step ST07, the mobile device control unit 400 determines whether the person's position relative to the mobile body 4 has changed (step ST08). If the person's position relative to the mobile body 4 has changed in the process in step ST08 (YES in step ST08), the mobile device control unit 400 adjusts the direction of the airflow (step ST09).

[0108] If the position of the person relative to the moving object 4 has not changed in step ST08 (NO in step ST08), and if the process in step ST09 has been performed, the mobile object control device 400 determines whether the distance between the specific person and the moving object 4 is greater than or equal to a preset first threshold (step ST10). If the distance between the specific person and the moving object 4 is greater than or equal to the first threshold in step ST10 (YES in step ST10), the mobile object control device 400 temporarily stops the movement of the moving object 4 (step ST11). After performing the process in step ST11, the mobile object control device 400 determines whether the distance between the specific person and the moving object 4 is less than a preset second threshold (step ST12). If the distance between the specific person and the moving object 4 is not less than the second threshold in step ST12 (NO in step ST12), the mobile object control device 400 repeats the process in step ST12 and maintains the state in which the moving object 4 is stopped until the distance between the specific person and the moving object 4 is less than the second threshold. If, in the process of step ST12, the distance between the specific person and the moving object 4 is less than the second threshold (YES in step ST12), the moving object control device 400 resumes the movement of the moving object 4 (step ST13).

[0109] If, in the process of step ST10, the distance between the specific person and the moving object is not greater than or equal to the first threshold (NO in step ST10), and if the process of step ST13 has been performed, the mobile object control device 400 determines whether or not the distance between the specific person and the moving object 4 is less than the third threshold (step ST14). If the distance between the specific person and the moving object 4 is less than the third threshold (NO in step ST14), the mobile object control device 400 sets the airflow mode to the first mode and has the air blower 50 blow air in the first mode (step ST15). If the distance between the specific person and the moving object 4 is not less than the third threshold (YES in step ST14), the mobile object control device 400 sets the airflow mode to the second mode and has the air blower 50 blow air in the second mode (step ST16). If the process of step ST15 has been performed, and if the process of step ST16 has been performed, the mobile object control device 400 determines whether or not another person has been detected (step ST17). In this process, the mobile device control unit 400 determines whether or not it has detected a person other than the specified person by the person detection unit 107 while moving along the set movement path.

[0110] If another person is detected during the process in step ST17 (YES in step ST17), the mobile object control device 400 determines whether the distance between the other person and the mobile object is less than the fourth threshold (step ST18). In this process, the mobile object control device 400 determines whether the distance between the other person and the mobile object 4 is less than the preset fourth threshold based on the distance information acquired by the distance information acquisition unit 110 and the detection result by the person detection unit 107. The fourth threshold is the distance between the mobile object 4 and the other person at which there is a risk of the mobile object 4 approaching or coming into contact with the other person if the mobile object 4 continues to move along the set path, and is set to, for example, 2m.

[0111] In step ST18, if the distance between the other person and the moving object is less than the fourth threshold (YES in step ST18), the moving object control device 400 determines whether the distance between the other person and the movement path is less than the fifth threshold (step ST19). In this process, the moving object control device 400 determines whether the distance between the other person and the movement path downstream of the moving object 4 is less than the fifth threshold, based on the movement path set by the movement path setting unit 143 and the detection result by the person detection unit 107. The fifth threshold is the distance between the movement path and the person at which there is a risk of the moving object 4 and the other person approaching or coming into contact if the moving object 4 continues to move along the set path, and is set to, for example, 1 m.

[0112] In step ST19, if the distance between the other person and the movement path is less than the fifth threshold (YES in step ST19), the mobile body control device 400 temporarily stops the movement of the mobile body 4 (step ST20). In this process, the mobile body control device 400 temporarily stops the movement of the mobile body 4 to avoid the distance between the mobile body 4 and the other person becoming too small.

[0113] When the mobile object control device 400 has completed the process in step ST20, it starts blowing air towards another person while it is still blowing air towards a specific person (step ST21). In this process, the mobile object control device 400 controls the blower 54 to blow air towards the other person. In this process, the other person can more easily recognize that they are approaching the mobile object 4 by receiving air from the blower 54.

[0114] When the mobile object control device 400 performs the processing in step ST21, it determines whether the change in distance between the other person and the mobile object is less than the sixth threshold (step ST22). In this process, the mobile object control device 400 calculates the change in distance between the other person and the mobile object 4 over a specific period and determines whether the change in distance between the other person and the mobile object 4 is less than the sixth threshold. For example, in this process, with the mobile object 4 stationary, the mobile object control device 400 calculates the change in distance between the other person and the mobile object 4 per unit time based on the distance information acquired by the distance information acquisition unit 110 and determines whether the change in distance between the other person and the mobile object 4 per unit time is less than the sixth threshold. For example, the sixth threshold is the amount of change in distance at which the other person can be considered not to be moving. For example, the sixth threshold as the amount of change in distance between the other person and the mobile object 4 per unit time is set to a specific value of 0.1 m / s or less.

[0115] In step ST22, if the change in distance between the other person and the moving object is less than the sixth threshold (YES in step ST22), the moving object control device 400 sets a new movement path so that the distance between the other person and the movement path is greater than or equal to the seventh threshold (step ST23). For example, in this process, the moving object control device 400 sets a new movement path for the moving object 4 that can maintain a safe distance from the other person, based on positioning information acquired by the positioning information acquisition unit 101, destination information acquired by the destination information acquisition unit 102, information indicating the direction of other people relative to the moving object 4 acquired by the person detection unit 107, distance information indicating the distance between the other person and the moving object 4 acquired by the distance information acquisition unit 110, and map information acquired by the communication device 70, while the other person is not moving.

[0116] When the mobile body control device 400 has completed the process in step ST23, it restarts the movement of the mobile body 4 while blowing air toward the specific person and other people (step ST24). In this process, the mobile body control device 400 restarts the movement of the mobile body 4 along the new movement path set by the movement path setting unit 143, and adjusts the direction of the air blown by the blower 54 so that it blows air toward the specific person and other people whose positions relative to the mobile body 4 are changing, based on the information obtained by the person detection unit 107 that indicates the direction of other people relative to the mobile body 4.

[0117] In step ST22, if the change in distance between the other person and the moving object is not less than the sixth threshold (NO in step ST22), and if step ST24 is performed, the moving object control device 400 determines whether the distance between the other person and the moving object is less than the fourth threshold (step ST25). In this process, the moving object control device 400 determines whether the distance between the moving object 4 and the other person is such that there is a risk of the moving object 4 and the other person being in close proximity or in contact if the moving object 4 continues to move along the newly set path.

[0118] In step ST25, if the distance between the other person and the moving object is less than the fourth threshold (YES in step ST25), the moving object control device 400 determines whether the distance between the other person and the movement path is less than the fifth threshold (step ST26). In this process, the moving object control device 400 determines whether, if the moving object 4 continues to move along the newly set path, the distance between the new movement path and the other person is such that there is a risk of the moving object 4 and the other person being in close proximity or in contact.

[0119] If, during the processing of step ST26, the distance between the other person and the movement path is less than the fifth threshold (YES in step ST26), the mobile body control device 400 returns to the processing of step ST25. If, during the processing of step ST25, the distance between the other person and the mobile body is less than the fourth threshold (NO in step ST25), or if, during the processing of step ST26, the distance between the other person and the movement path is not less than the fifth threshold (NO in step ST26), the mobile body control device 400 terminates the airflow directed towards the other person (step ST27).

[0120] If the mobile object control device 400 has performed the processing in step ST27, it determines whether the termination condition has been met (step ST28). If no other person is detected in the processing of step ST17 (NO in step ST17), if the distance between the other person and the mobile object is not less than the fourth threshold in the processing of step ST18 (NO in step ST18), if the distance between the other person and the movement path is not less than the fifth threshold in the processing of step ST19 (NO in step ST19), or if the termination condition has not been met in the processing of step ST28 (NO in step ST28), the mobile object control device 400 returns to step ST02. If the termination condition has been met in the processing of step ST28 (YES in step ST28), the mobile object control device 400 terminates the movement of the mobile object 4 (step ST29) and terminates the blowing by the blower 50 (step ST30).

[0121] As described above, the mobile body control device 400 according to Embodiment 4 is capable of blowing air in multiple directions relative to the mobile body. When the mobile body is moving along a movement path and the blower is blowing air toward a specific person, and the person detection unit detects other people around the mobile body, the blower control unit controls the blower to blow air toward the specific person and the other people.

[0122] With this configuration, the mobile device control unit 400 guides a specific person using the mobile body 4, while simultaneously blowing air towards other people around the mobile body 4, making it easier for other people to understand the position of the mobile body 4.

[0123] Furthermore, the mobile body control device 400 according to Embodiment 4 is capable of blowing air in multiple directions relative to the mobile body. When the blower is blowing air toward a specific person, if the person detection unit detects another person whose distance from the movement path is less than a preset threshold, the device sets a new movement path for the mobile body so that the distance between the movement path and the other person is greater than or equal to a preset threshold. The device controls the movement of the mobile body so that it moves along the new movement path set by the movement path setting unit. The device also controls the blower to blow air toward the other person while changing the direction of the airflow in accordance with the change in the position of the other person relative to the mobile body, and to blow air toward the specific person.

[0124] With this configuration, the mobile device control system 400 can guide a specific person using the mobile body 4, while making it easier for other people to understand the position of the mobile body 4, thereby preventing other people from approaching or coming into contact with the mobile body 4.

[0125] In any of the embodiments described above, the mobile device control unit may comprise some or all of the other components of the information processing system, or some of the components of the mobile device control unit may be provided on an external device of the mobile device that is communicatively connected to the mobile device control unit.

[0126] Furthermore, in any of the embodiments described above, the mobile body is not limited to one that guides people. The mobile body only needs to be one that moves autonomously controlled by a mobile body control device, and may be a mobile body used for purposes other than guiding people.

[0127] Furthermore, this disclosure allows for free combination of each embodiment, modification of any component of each embodiment, or omission of any component in each embodiment.

[0128] The mobile device control device described herein can be used, for example, to control a mobile device that transports cargo to a destination.

[0129] 1 Mobile body, 2 Mobile body, 3 Mobile body, 4 Mobile body, 10 Positioning device, 20 Mobile device, 30 Internal information acquisition device, 40 External information acquisition device, 50 Blower device, 54 Blower device, 70 Communication device, 100 Mobile body control device, 101 Positioning information acquisition unit, 102 Destination information acquisition unit, 103 Movement route setting unit, 104 Movement control unit, 105 Image information acquisition unit, 106 Identification information acquisition unit, 107 Person detection unit, 109 Person determination unit, 110 Distance information acquisition unit, 111 Blower control unit, 114 Storage unit, 121 Blower control unit, 123 Movement route setting unit, 124 Movement control unit, 131 Blower control unit, 141 Blower control unit, 143 Movement route setting unit, 144 Movement control unit, 149 Person determination unit, 200 Mobile body control device, 300 Mobile device control unit, 400 mobile device control unit, H1 user, M1 destination.

Claims

1. A mobile body control device comprising: a movement control unit that controls the movement of a mobile body so as to move the mobile body along a predetermined movement path; a person detection unit that detects people around the mobile body; and a fan control unit that controls the fan of the mobile body so as to blow air toward a specific person detected by the person detection unit while the mobile body is moving along the movement path.

2. The mobile body control device according to claim 1, comprising: a positioning information acquisition unit that acquires positioning information of the mobile body; a destination information acquisition unit that acquires information indicating the destination of the specific person; and a travel route setting unit that sets the travel route based on the positioning information acquired by the positioning information acquisition unit and the destination information acquired by the destination information acquisition unit.

3. The mobile body control device according to claim 2, characterized in that the air blowing control unit controls the air blowing device to blow air toward the specific person located upstream of the mobile body along the movement path while the mobile body is moving along the movement path.

4. A mobile body control device according to claim 2 or 3, comprising a distance information acquisition unit that acquires distance information indicating the distance between the mobile body and the specific person, wherein the movement control unit controls the movement of the mobile body based on the distance information acquired by the distance information acquisition unit so that the distance between the mobile body and the specific person is within a preset range.

5. The mobile body control device according to claim 4, characterized in that the air blowing control unit controls the air blowing device so that the air blowing mode changes based on the distance information acquired by the distance information acquisition unit.

6. The blower is capable of blowing air in multiple directions relative to the moving body, and when the moving body is moving along the movement path and the blower is blowing air toward the specific person, the person detection unit detects other people in the vicinity of the moving body, the blower control unit controls the blower to blow air toward the specific person and the other people, as described in any one of claims 1 to 5.

7. The mobile body control device according to claim 4 or 5, characterized in that the blower is capable of blowing air in multiple directions relative to the mobile body, the movement path setting unit sets a new movement path for the mobile body such that the distance between the movement path and the other person is equal to or greater than the preset threshold when the person detection unit detects another person whose distance from the movement path is less than a preset threshold while the blower is blowing air toward the specific person, the movement control unit controls the movement of the mobile body so that it moves along the new movement path set by the movement path setting unit, and the blower control unit controls the blower to blow air toward the other person while changing the direction of the airflow in accordance with the change in the position of the other person relative to the mobile body, and also blows air toward the specific person.

8. A method for controlling a moving object performed by an apparatus comprising a movement control unit, a person detection unit, and a fan control unit, the method comprising: a step of controlling the movement of the moving object so that the movement control unit moves the moving object along a preset movement path; a step of the person detection unit detecting a person in the vicinity of the moving object; and a step of the fan control unit controlling the fan device of the moving object so that, while the moving object is moving along the movement path, it blows air towards a specific person detected by the person detection unit.

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