Human activity assistance system, autonomous mobile body for human activity assistance, human activity assistance method, and human activity assistance program

Abstract

According to the present invention, a mobile body processing circuit acquires target point information that indicates a target point for an autonomous mobile body to approach a target person, generates a movement plan for causing the autonomous mobile body to move autonomously toward the target point on the basis of the target point information, acquires position information that indicates the position of an entity that is in an area, corrects the movement plan in accordance with changes in the position of the entity while the autonomous mobile body is moving toward the target point, acquires assistance information for assisting an activity of the target person, and causes a man / machine interface to output the assistance information to the target person when the autonomous mobile body has arrived at the target point.

Description

Human activity support system, autonomous mobile body for human activity support, human activity support method, and human activity support program

[0001] The present disclosure relates to a human activity support system, an autonomous mobile body for human activity support, a human activity support method, and a human activity support program.

[0002] Patent Document 1 discloses a work support system including an autonomous mobile body including a man-machine interface and a server. In this system, a human and an autonomous mobile body move toward a work location respectively, and at the work location, the autonomous mobile body provides support information to the human via the man-machine interface.

[0003] Japanese Patent Application Laid-Open No. 2023-55145

[0004] In the above system, after the autonomous mobile body starts moving toward the target location, when a situation change occurs in the action area of the autonomous mobile body, there is a possibility that the autonomous mobile body cannot smoothly complete the planned action.

[0005] Therefore, one aspect of the present disclosure aims to enable the autonomous mobile body to smoothly provide support information to a human even when a situation change occurs.

[0006] A human activity support system according to one aspect of the present disclosure is a human activity support system that supports the activities of a target human being among a plurality of humans present in a predetermined area, and comprises at least one autonomous mobile body including a mobile body processing circuit and a man-machine interface connected to the mobile body processing circuit. The mobile body processing circuit is configured to acquire target location information indicating a target location for the autonomous mobile body to approach the target human being, generate a movement plan for autonomously moving the autonomous mobile body toward the target location based on the target location information, acquire location information indicating the location of entities present in the area, modify the movement plan in accordance with changes in the location of the entities when the autonomous mobile body is moving toward the target location, acquire support information to support the activities of the target human being, and cause the man-machine interface to output the support information to the target human being when the autonomous mobile body has arrived at the target location.

[0007] An autonomous mobile body for human activity support according to one aspect of the present disclosure is an autonomous mobile body for human activity support that supports the activities of a target human being among a plurality of humans present in a predetermined area, and comprises a mobile body processing circuit and a man-machine interface connected to the mobile body processing circuit. The mobile body processing circuit is configured to acquire target location information indicating a target location for the autonomous mobile body to approach the target human being, generate a movement plan for autonomously moving the autonomous mobile body toward the target location based on the target location information, acquire location information indicating the location of entities present in the area, modify the movement plan in accordance with changes in the location of the entities when the autonomous mobile body is moving toward the target location, acquire support information to support the activities of the target human being, and, when the autonomous mobile body has arrived at the target location, cause the man-machine interface to output the support information to the target human being.

[0008] A method for supporting human activity according to one aspect of the present disclosure is a method for supporting the activity of a target human being among a plurality of human beings present in a predetermined area, and includes: acquiring target location information indicating a target location for the autonomous mobile body to approach the target human being; generating a movement plan based on the target location information to cause the autonomous mobile body to move autonomously toward the target location; acquiring location information indicating the location of entities present in the area; modifying the movement plan in accordance with changes in the location of the entities while the autonomous mobile body is moving toward the target location; acquiring support information for supporting the activity of the target human being; and, when the autonomous mobile body has arrived at the target location, causing the man-machine interface of the autonomous mobile body to output the support information to the target human being.

[0009] A human activity support program according to one aspect of the present disclosure causes a computer system to execute the method described above. The program may be stored in a computer-readable, non-temporary, and tangible storage medium.

[0010] According to one aspect of this disclosure, an autonomous mobile entity can smoothly arrive near a target human being and provide support information by modifying its movement plan in response to changes in circumstances.

[0011] Figure 1 is a schematic diagram of a human activity support system according to an embodiment. Figure 2 is a block diagram of the first autonomous mobile unit in Figure 1. Figure 3 is a block diagram of the second autonomous mobile unit in Figure 1. Figure 4 is a block diagram of the portable information terminal in Figure 1. Figure 5 is a block diagram of the server in Figure 1. Figure 6 is a flowchart illustrating the processing of the human activity support system in Figure 1. Figure 7 is a block diagram of a modified example of the first autonomous mobile unit in Figure 2. Figure 8 is a flowchart illustrating another process of the human activity support system in Figure 1.

[0012] The embodiments will be described below with reference to the drawings.

[0013] Figure 1 is a schematic diagram of a human activity support system according to an embodiment. As shown in Figure 1, the predetermined area 2 includes, for example, an indoor facility. Area 2 is not particularly limited, but could be, for example, an airport facility, a commercial facility, a train station facility, a hospital, an underground shopping mall, a government office, an art museum, a museum, an exhibition hall, a factory, a logistics warehouse, an amusement park, or a school. Multiple pieces of equipment 8, such as air conditioning equipment, lighting equipment, elevators, escalators, and displays, are arranged in area 2.

[0014] Area 2 contains multiple entities 9 that can move within Area 2. The multiple entities 9 include, for example, multiple autonomous mobile units 3 and multiple humans 4. The autonomous mobile units 3 can also be called autonomous mobile robots. Entity 9 may consist of only one of either the autonomous mobile units 3 or the humans 4. The autonomous mobile units 3 move autonomously toward a destination point. The autonomous mobile units 3 include a first autonomous mobile unit 3A and a second autonomous mobile unit 3B of a different type from the first autonomous mobile unit 3A. The autonomous mobile units 3 travel on the ground, but may also fly in the air. The autonomous mobile units 3 are unmanned aircraft, but may also be vehicles that can carry humans. Entity 9 may include movable objects such as carts and transported objects. In that case, sensors for detecting location information are attached to the entity 9.

[0015] Multiple individuals 4 each possess a personal information terminal 5. For example, if individuals 4 move, the personal information terminal 5 moves with them. Positioning the personal information terminal 5 means positioning individuals 4. The personal information terminal 5 can be, for example, a smartphone, a wearable device, a tablet device, a personal computer, or a dedicated communication device.

[0016] Area 2 has a wireless LAN network. Multiple wireless access points 6 are distributed throughout Area 2, capable of wirelessly communicating with the autonomous mobile unit 3 and the personal information terminal 5. Each wireless access point 6 emits radio waves containing its own identification information (e.g., MAC address). The wireless access points 6 are, for example, base stations for Wi-Fi® wireless communication. The autonomous mobile unit 3 and the personal information terminal 5 are configured to receive radio waves from the wireless access points 6. The autonomous mobile unit 3 and the personal information terminal 5 are connected to a communication network N via the wireless access points 6. The communication network N can be, for example, the Internet or an intranet. As will be described later, the wireless access points 6 serve not only for connecting to the communication network N, but also as first stationary sensors for detecting the location of entity 9.

[0017] In Area 2, multiple beacons 7 capable of wireless communication with the autonomous mobile unit 3 and the portable information terminal 5 are placed at predetermined locations. The beacons 7 serve as second stationary sensors for detecting the position of entity 9. The position detection accuracy of the beacons 7 is higher than that of the wireless access points 6. The beacons 7 emit radio waves based on, for example, BLE (Bluetooth Low Energy). The distance between each beacon 7 is shorter than the distance between each wireless access point 6. In Area 2, the number of beacons 7 is less than the number of wireless access points 6. By placing beacons 7 as second stationary sensors in locations where high-precision position detection is required, the total cost of the sensor group can be reduced while performing position detection with the accuracy required to meet the needs. Alternatively, a camera may be used as the second stationary sensor instead of the beacons 7. That is, the position of entity 9 may be detected by identifying the entity 9 captured in the image by the camera using image recognition technology.

[0018] The human activity support system 1 includes a server SV connected to a communication network N. The server SV can communicate with the autonomous mobile unit 3 and the portable information terminal 5 via the communication network N. The server SV determines support information to assist the activities of target human 4A among multiple humans 4. The server SV generates tasks to assist the activities of target human 4A and transmits task commands to the autonomous mobile unit 3. The server SV determines request information regarding the control of equipment 8 and transmits the determined request information to the control circuit that controls equipment 8. The server SV calculates the positions of the autonomous mobile unit 3 and humans 4 in area 2.

[0019] Figure 2 is a block diagram of the first autonomous mobile unit 3A shown in Figure 1. As shown in Figure 2, the first autonomous mobile unit 3A includes a processor 11, system memory 12, storage memory 13, distance sensor 14, radio wave transceiver 15, human-machine interface 16, camera 17, communication device 18, travel actuator 19, wheels W, and cargo bed X. Devices 14 to 19 are electrically connected to the processor 11.

[0020] The processor 11 may include a CPU (Central Processing Unit). The system memory 12 may include RAM. The storage memory 13 may include a hard disk, flash memory, or a combination thereof. The storage memory 13 stores the human activity support program P1. An example of a mobile processing circuit 10A is a configuration in which the processor 11 executes the human activity support program P1 read from the storage memory 13 to the system memory 12.

[0021] The processor 11 controls the human-machine interface 16 and at least one of the travel actuators 19 according to the human activity support program P1, based on information input from at least one of the distance measuring sensor 14, radio wave transceiver 15, human-machine interface 16, camera 17, and communication device 18. The processor 11, system memory 12, and storage memory 13 storing the human activity support program P1 constitute a computer and form a computer system CS1 that executes the human activity support program P1.

[0022] The distance measuring sensor 14 detects the shape of the area around the first autonomous mobile body 3A in three dimensions by measuring the distance around the first autonomous mobile body 3A in three dimensions. The distance measuring sensor 14 is an example of a mobile sensor that detects the state of the area around the first autonomous mobile body 3A. The distance measuring sensor 14 detects the position data of the outer surface of tangible objects in area 2 by receiving reflected waves from obstacles around the first autonomous mobile body 3A. For example, the distance measuring sensor 14 may emit light, radio waves, or ultrasonic waves toward the area around the first autonomous mobile body 3A and receive the reflected waves. The distance measuring sensor 14 may receive reflected waves from light, radio waves, or ultrasonic waves present in the outside world that are reflected by objects. The distance measuring sensor 14 can measure distances in all directions in the horizontal direction with respect to the first autonomous mobile body 3A.

[0023] The distance measuring sensor 14 may, for example, measure the time from the time laser light is irradiated until the reflected wave is received to detect the distance to a tangible object. The distance measuring sensor 14 may be a LIDAR (Light Detection and Ranging) sensor. As an example, the distance measuring sensor 14 is a three-dimensional LIDAR sensor. The mobile object processing circuit 10A determines the position of the first autonomous mobile object 3A on the map data by matching the surrounding shape detected by the distance measuring sensor 14 with the shape of the map data described later. In other words, positioning is achieved by combining the distance measuring sensor 14 with software that matches the shape detected by the distance measuring sensor 14 with the map data.

[0024] The radio transceiver 15 includes a transceiver that receives radio waves for wireless communication transmitted by a plurality of wireless access points 6 and transmits radio waves for wireless communication to at least one of the plurality of wireless access points 6. The radio transceiver 15 further includes a transceiver that also receives radio waves for wireless communication transmitted by a plurality of beacons 7 and transmits radio waves for wireless communication to at least one of the plurality of beacons 7. The radio waves received by the radio transceiver 15 include identification information of the wireless access point 6 that transmitted the radio waves. The radio waves received by the radio transceiver 15 from the beacons 7 include identification information of the beacon 7 that transmitted the radio waves. The radio transceiver 15 acts as a mobile communication interface that connects to the communication network N and communicates with the server SV.

[0025] The man-machine interface 16 is an example of a user interface. That is, the man-machine interface 16 serves as both a user input interface and a user output interface. The man-machine interface 16 includes, for example, a touch panel display. A keyboard, mouse, etc., may be used as the user input interface, and a non-touch panel display, speaker, lamp, etc., may be used as the user output interface.

[0026] Camera 17 is a digital camera that takes pictures of the outside of the first autonomous mobile body 3A. Camera 17 is an example of a mobile sensor that detects the state of the surroundings of the first autonomous mobile body 3A. Camera 17 is also an example of a biometric authentication sensor for performing facial recognition of a target person 4A. The communication device 18 includes a communication device that wirelessly connects to the communication network N. The communication device 18 is a communication device that connects to a mobile phone line. The communication device 18 is an example of a mobile communication interface that transmits information to the server SV via the communication network N and receives information transmitted from the server SV. In this embodiment, since the radio wave transceiver 15 can serve as a mobile communication interface that can communicate with the server SV, the communication device 18 that connects to the mobile phone line may be omitted.

[0027] The driving actuator 19 includes a wheel drive actuator that drives the wheels W for driving. The driving actuator 19 is, for example, an electric motor. The driving actuator 19 includes a braking actuator that drives a brake that brakes the wheels W. The first autonomous mobile body 3A may change its direction of travel by making the rotation speeds of the left and right wheels W different, by making the rotation directions of the left and right wheels W different, or by steering the wheels W with a steering actuator. The first autonomous mobile body 3A may have an opposing differential two-wheel mechanism or an omnidirectional Mecanum mechanism. The cargo bed X is for carrying luggage. The first autonomous mobile body 3A can carry luggage for a target person 4A on the cargo bed X.

[0028] Figure 3 is a block diagram of the second autonomous mobile unit 3B shown in Figure 1. Components common to both the first autonomous mobile unit 3A and the second autonomous mobile unit 3B are denoted by the same reference numerals and their explanations are omitted. As shown in Figure 3, the second autonomous mobile unit 3B differs from the first autonomous mobile unit 3A in that it is equipped with an automatic payment machine Y. The storage memory 13 of the second autonomous mobile unit 3B stores a human activity support program P2. The human activity support program P2 is basically the same as the human activity support program P1 of the first autonomous mobile unit 3A, but it has the function of controlling the automatic payment machine Y. The configuration in which the processor 11 executes the human activity support program P2 read from the storage memory 13 to the system memory 12 is an example of the mobile unit processing circuit 10B. The processor 11, system memory 12, and storage memory 13 storing the human activity support program P2 of the second autonomous mobile unit 3B constitute a computer and form a computer system CS2 that executes the human activity support program P2.

[0029] Figure 4 is a block diagram of the personal information terminal 5 shown in Figure 1. As shown in Figure 4, the personal information terminal 5 includes a processor 21, system memory 22, storage memory 23, display 24, operation interface 25, radio wave transceiver 26, and communication device 27. The processor 21 may include a CPU (Central Processing Unit). The system memory 22 may include RAM. The storage memory 23 may include ROM. The storage memory 23 may include a hard disk, flash memory, or a combination thereof. The storage memory 23 stores the control program P3. The storage memory 23 stores the identification information of the person 4 who is the owner of the personal information terminal 5. The configuration in which the processor 21 executes the control program P3 read from the system memory 22 is an example of a processing circuit 20.

[0030] The display 24 may be, for example, a liquid crystal display or an organic EL display. The operation interface 25 is a user interface operated by a human 4. The operation interface 25 includes, for example, at least one selected from a touch panel, keyboard, mouse, etc. If the display 24 is a touch panel, the display 24 also serves as the operation interface 25.

[0031] The radio transceiver 26 includes a receiver that receives radio waves for wireless communication transmitted by multiple wireless access points 6. The radio transceiver 26 further includes a receiver that also receives radio waves for wireless communication transmitted by multiple beacons 7. The radio waves that the radio transceiver 26 receives from the wireless access points 6 contain identification information of the wireless access points 6 that transmitted the radio waves. The radio waves that the radio transceiver 26 receives from the beacons 7 contain identification information of the beacons 7 that transmitted the radio waves. The radio transceiver 26 acts as a terminal communication interface that connects to the communication network N and communicates with the server SV.

[0032] The communication device 27 is a communication device that connects to a mobile phone line in order to connect to the communication network N. The communication device 27 is an example of a terminal communication interface that transmits information to the server SV via the communication network N and receives information transmitted from the server SV. In this embodiment, since the radio wave transceiver 26 can serve as a terminal communication interface that can communicate with the server SV, the communication device 27 that connects to the mobile phone line may be omitted.

[0033] Figure 5 is a block diagram of the server SV of Figure 1. As shown in Figure 5, the server SV comprises a processor 31, system memory 32, storage memory 33, and a server communication interface 34. The processor 31 may include a CPU (Central Processing Unit). The system memory 32 may include RAM. The storage memory 33 may include a hard disk, flash memory, or a combination thereof. The server communication interface 34 includes a communication device connected to the communication network N. The storage memory 33 stores a mobile device management program P4 and an equipment management program P5. An example of a server processing circuit 30 is a configuration in which the processor 31 executes programs P4 and P5 read from the storage memory 33 to the system memory 32.

[0034] The mobile unit management program P4 transmits and receives information with the autonomous mobile unit 3 and the portable information terminal 5, and includes a set of instructions for commanding the autonomous mobile unit 3 to perform tasks. The equipment management program P5 includes a set of instructions for generating request information regarding the control of the equipment 8 based on the equipment management settings input to the server SV. The equipment management settings may be parameters required for generating the request information regarding the control of the equipment 8. The parameters may also be information indicating the permissible or prohibited range of the operation output of the equipment 8. The parameters may also be the initial or default value of the operation output of the equipment 8.

[0035] The equipment management program P5 generates request information for the control of equipment 8 based on the equipment management settings entered into the server SV. If equipment 8 is an air conditioning unit, the request information is, for example, a requested value indicating the target room temperature or humidity. If equipment 8 is a lighting unit, the request information is, for example, a requested value indicating the target room brightness. If equipment 8 is an elevator or escalator, the request information is, for example, a command to stop or start the elevator or escalator. If equipment 8 is a display, the request information is, for example, a command to indicate the content to be displayed on the display.

[0036] As described later in step S1 of Figure 6, the server SV acquires location information indicating the position of each entity 9 within area 2, and modifies the request information regarding the control of the equipment 8 based on the position of each entity 9. For example, the server SV may modify the request information regarding the control of the equipment 8 to increase the operational output or utilization rate of equipment 8 located in a congested area, and decrease the operational output or utilization rate of equipment 8 located in an uncongested area. The server SV may also modify the request information regarding the control of the equipment 8 to match the attributes of a person 4 located near the equipment 8.

[0037] If equipment 8 is an air conditioning unit that functions as a cooler, server SV lowers the target room temperature for equipment 8 located in a congested area and raises the target room temperature for equipment 8 located in an uncongested area. If equipment 8 is a lighting unit, server SV lowers the target room brightness for equipment 8 located in an uncongested area. If equipment 8 is an elevator or escalator, server SV stops the elevator or escalator located in an uncongested area. If equipment 8 is a display, server SV displays content on the display that matches the attributes of the person 4 in the area where equipment 8 is located.

[0038] The storage memory 33 includes an AP location information storage unit 35, a beacon location information storage unit 36, a map storage unit 37, and a database DB. The AP location information storage unit 35 pre-stores an AP location information list that shows the correspondence between the identification information of each wireless access point 6 in area 2 and the location information of each wireless access point 6 in area 2. The beacon location information storage unit 36 ​​pre-stores a beacon location information list that shows the correspondence between the identification information of each beacon 7 in area 2 and the location information of each beacon 7 in area 2.

[0039] The map storage unit 37 pre-stores map data for area 2. The map data identifies the shape of area 2 in which the autonomous mobile unit 3 can travel. For example, the map data identifies the shape of the floors within a building. The map data identifies the contours of the area in which the autonomous mobile unit 3 can travel by identifying the contours of obstacles in area 2. Each time the map data in the map storage unit 37 is updated, the autonomous mobile unit 3 downloads that map data.

[0040] The database DB stores personal information that shows the relationship between the characteristics of specific body parts of each person 4 and the identification information assigned to each person 4. The characteristics of specific body parts of each person 4 may be facial data for facial recognition, but any characteristics used for biometric authentication are acceptable, for example, fingerprint data for fingerprint authentication. The personal information may be pre-entered into the server SV or obtained from data transmitted by the mobile information terminal 5. The personal information may also include attribute information of each person 4.

[0041] FIG. 6 is a flowchart for explaining the processing of the human activity support system 1 in FIG. 1. Hereinafter, the processing of the human activity support system 1 will be described along the flow of FIG. 6 while referring to FIGS. 1 to 5. The processing of the first autonomous mobile body 3A is executed by the mobile body processing circuit 10A, the processing of the second autonomous mobile body 3B is executed by the mobile body processing circuit 10B, and the processing of the server SV is executed by the server processing circuit 30.

[0042] The server SV continuously receives position information indicating the positions of a plurality of entities 9 existing in area 2 (step S1). The position information includes identification information for identifying the entity 9. In FIG. 6, for the sake of convenience, the reception of the position information is described in step S1, but the server SV continuously receives the position information of each autonomous mobile body 3 and each portable information terminal 5 at a predetermined sampling period during the operation of the human activity support system 1. Specifically, the position information of the portable information terminal 5 is obtained as follows.

[0043] The server SV receives, from the portable information terminal 5, data including the intensity of each radio wave received by the radio wave transceiver 26 of the portable information terminal 5 from each wireless access point 6 and the identification information of the wireless access point 6 that is the transmission source of each radio wave, together with the identification information of the portable information terminal 5. The server SV refers to the AP position information list in the AP position information storage unit 35 to identify the positions of the wireless access points 6 corresponding to each radio wave.

[0044] The server SV calculates the position of the portable information terminal 5 as positioning data by calculating the distance from each wireless access point 6 to the portable information terminal 5 based on the intensity of each radio wave. That is, the wireless access point 6 serves as a first stationary sensor for detecting the position of the entity 9, and the radio wave transceiver 26 of the portable information terminal 5 serves as a positioning sensor provided in the portable information terminal 5 to obtain the position information of the portable information terminal 5. Note that by providing the AP position information storage unit 35 in the autonomous mobile body 3, the autonomous mobile body 3 may calculate the position of the entity 9 without using the server SV.

[0045] When the mobile information terminal 5 is within the radio wave range of each beacon 7, the server SV receives from the mobile information terminal 5 the strength of each radio wave received by the radio wave transceiver 26 of the mobile information terminal 5 from each beacon 7, and the identification information of the beacon 7 that transmitted each radio wave. The server SV refers to the beacon location information list in the beacon location information storage unit 36 ​​and identifies the location of each beacon 7 corresponding to each radio wave. The principle of detecting the location of the mobile information terminal 5 using the beacons 7 is the same as the principle of detecting the location of the mobile information terminal 5 using the wireless access point 6, so a detailed explanation is omitted. When the mobile information terminal 5 is within the radio wave range of each beacon 7, the server SV uses the location information identified using the beacons 7 rather than the location information identified using the wireless access point 6. Note that by providing the beacon location information storage unit 36 ​​in the autonomous mobile body 3, the autonomous mobile body 3 may calculate the location of entity 9 without using the server SV.

[0046] The location information of the autonomous mobile device 3 may be obtained by the same method as the location information of the mobile information terminal 5. The location information of the autonomous mobile device 3 may also be obtained by matching the surrounding shape detected by the distance measuring sensor 14 mounted on the autonomous mobile device 3 with the shape of the map data of area 2, thereby identifying the position of the autonomous mobile device 3 on the map data. When the server SV receives location information or data for detecting it from the autonomous mobile device 3, it also receives identification information of the autonomous mobile device 3.

[0047] Server SV acquires location information indicating the positions of multiple individuals 4 in Area 2 in a time series, and stores this time series data of locations in a database DB, associating it with the identification information of the corresponding individuals 4. This allows for the analysis of the behavioral history of multiple individuals 4 in Area 2, which can then be used to improve Area 2.

[0048] Server SV generates a task according to a predetermined rule or based on an external input (step S2). For example, when area 2 is an airport, server SV identifies human 4 whose boarding procedures have not been completed by a predetermined time as target human 4A, and generates a task of guiding the identified target human 4A to the boarding gate. Server SV extracts a plurality of first autonomous mobile robots 3A capable of performing the task from the plurality of autonomous mobile robots 3, selects the first autonomous mobile robot 3A closest to target human 4A from the extracted first autonomous mobile robots 3A, and sends a task command to the selected first autonomous mobile robot 3A (step S3).

[0049] The task command includes the identification information of target human 4A, information indicating the target point which is the position of target human 4A, and support information to be provided to target human 4A to support the activities of target human 4A. The support information to be provided to target human 4A is determined by server SV, but may also be determined by the first autonomous mobile robot 3A. The support information includes, for example, a message prompting the boarding procedure, the boarding deadline time, information indicating the boarding gate, etc.

[0050] Server SV continuously transmits the latest position information of each entity 9 to the first autonomous mobile robot 3A (step S4). In FIG. 6, for the sake of convenience, the transmission of the position information is described at step S3, but server SV continuously transmits the latest position information of each entity 9 to the first autonomous mobile robot 3A at a predetermined sampling period while the first autonomous mobile robot 3A is connected to the communication network N. Note that the first autonomous mobile robot 3A may detect the position of entity 9 around the first autonomous mobile robot 3A using the ranging sensor 14 of the first autonomous mobile robot 3A as a mobile sensor. By doing so, it is possible to prevent a decrease in responsiveness due to communication delay.

[0051] The first autonomous mobile robot 3A acquires the target point from the received task command (step S5). The target point is, for example, the position of target human 4A, but may be a point for the first autonomous mobile robot 3A to approach target human 4A, or may be a point near the position of target human 4A. The first autonomous mobile robot 3A generates a movement plan to the target point based on the map data and the position information of each entity 9 (step S6).

[0052] The travel plan includes information indicating waypoints or planned travel routes. The planned travel route from the current location to the waypoint or target location may be determined according to the well-known Dijkstra's algorithm. If the first autonomous mobile unit 3A determines that entity 9 is blocking a passage in area 2, the first autonomous mobile unit 3A determines a travel plan that avoids that passage. The travel plan may also be determined by the server SV.

[0053] The first autonomous mobile unit 3A moves toward the target location according to the movement plan (step S7). While the first autonomous mobile unit 3A is moving, it modifies the movement plan according to the latest location information of each entity 9 (step S8). For example, if the first autonomous mobile unit 3A determines that many entities 9 have gathered in a planned passage and congestion has occurred, it changes the planned movement route to a relay point or to pass through an alternative passage instead of using that passage. As a result, the first autonomous mobile unit 3A can smoothly reach the vicinity of the target human 4A and provide support information by modifying the movement plan in response to the changing situation.

[0054] While the first autonomous mobile unit 3A is moving, if it determines that the target human 4A is moving, it modifies the target location to follow the moving target human 4A. The first autonomous mobile unit 3A recalculates the planned movement route from its current location to the modified target location according to the known Dijkstra's algorithm. As a result, the target location is modified in accordance with the movement of the target human 4A, allowing the first autonomous mobile unit 3A to approach the target human 4A and provide support information to the target human 4A while allowing the target human 4A to move freely.

[0055] The first autonomous mobile unit 3A determines whether or not it has arrived at the target location (step S9). If it is determined that the first autonomous mobile unit 3A has not arrived at the target location (step S9:N), the process returns to step S8. If it is determined that the first autonomous mobile unit 3A has arrived at the target location (step S9:Y), the first autonomous mobile unit 3A stops at the target location, takes a picture of the target person 4A with the camera 17 by referring to the latest location information of the target person 4A received from the server SV, and detects the precise location of the target person 4A using image processing technology (step S10).

[0056] The first autonomous mobile device 3A authenticates the target human 4A by biometric authentication (step S11). Specifically, the first autonomous mobile device 3A photographs a specific part of the target human 4A with the camera 17. If the biometric authentication is facial recognition, the specific part photographed by the camera 17 is the face of the target human 4A. In other words, the camera 17 acts as a biometric authentication sensor that detects the characteristics of the specific part of the target human 4A. If the biometric authentication is fingerprint authentication, the biometric authentication sensor is a fingerprint detection sensor.

[0057] The first autonomous mobile unit 3A transmits the facial image of the target human 4A captured by the camera 17 to the server SV, and the server SV compares the features of the received facial image with multiple facial data stored in the database DB (step S12). The server SV extracts identification information from the database DB that matches the facial data that matches the features of the received facial image. The server SV transmits the extracted identification information to the first autonomous mobile unit 3A.

[0058] If the first autonomous mobile unit 3A does not receive identification information that matches the identification information of the target human 4A included in the task command, it restarts from step S10 or step S7. If the first autonomous mobile unit 3A receives identification information that matches the identification information of the target human 4A included in the task command, it considers authentication complete. As a result, the first autonomous mobile unit 3A assumes that the target human 4A corresponding to this identification information is located at the location identified in step S10. That is, the first autonomous mobile unit 3A associates the identification information of the target human 4A with the identified location. Note that this identification information matching determination may be performed by the server SV instead of the first autonomous mobile unit 3A.

[0059] When the first autonomous mobile unit 3A is near the target human 4A, it causes the man-machine interface 16 to output support information to the target human 4A (step S13). For example, the first autonomous mobile unit 3A displays a message prompting boarding procedures, the boarding deadline, and information indicating the boarding gate on the man-machine interface 16, and outputs an audio message prompting boarding procedures. The first autonomous mobile unit 3A may also output an audio message or display on the man-machine interface 16 prompting the target human 4A to place their luggage on the luggage rack X. When the first autonomous mobile unit 3A receives confirmation from the target human 4A via the man-machine interface 16, it responds by moving towards the boarding gate and guiding the target human 4A to the boarding gate (step S14).

[0060] Figure 7 is a block diagram of a modified example of the first autonomous mobile body 103A in Figure 2. As shown in Figure 7, the database DB may be located on the first autonomous mobile body 103A. That is, the first autonomous mobile body 103A may have a database DB that stores personal information showing the relationship between the characteristics of specific parts of each human 4 and the identification information assigned to each human 4. As a result, the biometric authentication in step S11 can be completed on the first autonomous mobile body 103A without communication with the server SV. Because the database DB storing personal information is located on the first autonomous mobile body 103A, processing can be done quickly on the first autonomous mobile body 103A without communication delay while maintaining security.

[0061] Figure 8 is a flowchart illustrating another process of the human activity support system 1 shown in Figure 1. The processes of the human activity support system 1 will be explained below following the flow shown in Figure 8, with reference to Figures 1 through 5. Processes common to both Figure 6 and Figure 6 are denoted by the same reference numerals and their explanations are omitted.

[0062] Step S1 is the same as in Figure 6, so its explanation is omitted. After step S1, the server SV generates a task according to a predetermined rule or based on external input (step S102). For example, if area 2 is a facility with a reception desk for a predetermined procedure performed by human staff, the server SV, based on the location information of each entity 9, determines that the number of people 4 in the queue in front of the reception desk exceeds a predetermined number, and generates a task to have the second autonomous mobile body 3B perform the procedure instead of the reception desk. The procedure could be, for example, a tax refund, expense settlement, or register settlement.

[0063] The server SV extracts multiple second autonomous mobile units 3B capable of performing the task from multiple autonomous mobile units 3, selects the second autonomous mobile unit 3B closest to the reception counter with a queue from among the extracted second autonomous mobile units 3B, and sends a task command to the selected second autonomous mobile unit 3B (step S103). The task command includes information indicating a target location near the reception counter where a queue of more than a predetermined number of people has formed. The target person 4A to whom the second autonomous mobile unit 3B provides support information is any person 4 in the queue. Steps S4 to S7 are the same as in Figure 6, so their explanation is omitted.

[0064] After step S7, while the second autonomous mobile unit 3B is moving, the second autonomous mobile unit 3B modifies its movement plan according to the latest location information of each entity 9 (step S108). For example, if the reception counter corresponding to the initial target location was designated as the first reception counter, the second autonomous mobile unit 3B, based on the latest location information of the entities 9, will determine that the queue at the second reception counter, which is located in a different place from the first reception counter, has become longer, and will adjust the target location to be near the second reception counter.

[0065] When the second autonomous mobile unit 3B arrives at the target location (step S9:Y), the second autonomous mobile unit 3B outputs a display and voice message to the man-machine interface 16 indicating that it will perform the same procedure as at the reception counter. The second autonomous mobile unit 3B receives input to start the procedure from one of the multiple people 4 in the queue in front of the reception counter who wishes to complete the procedure using the second autonomous mobile unit 3B (step S110). Steps S11 to S12 are the same as in Figure 6, so their explanation is omitted.

[0066] After the authentication of the target human 4A is completed, the second autonomous mobile unit 3B causes the human-machine interface 16 to display support information for the procedure (step S113). For example, the support information may be a guide prompting the target human 4A to input the information necessary for the procedure. The input includes at least one of the following: selecting from options displayed on the human-machine interface 16, inputting numbers or text, inputting information for a one-dimensional code such as a barcode or a two-dimensional code such as a QR code (registered trademark), or inputting scanned information for a certificate necessary for the procedure.

[0067] When the necessary information is input to the man-machine interface 16 by the target person 4A, the second autonomous mobile unit 3B performs a response process (step S115). The response process may, for example, involve having the automatic payment machine Y refund the amount in cash or electronic money, or the automatic payment machine Y process the payment in cash, electronic money, or credit card. As a result, the second autonomous mobile unit 3B performs the response process in response to the input of the target person 4A, and can provide procedural processing that meets the target person 4A's requests on behalf of the human staff.

[0068] It should be noted that the technology disclosed herein is not limited to the embodiments described above. For example, the computer system CS1 may consist of both a set of the processor 11, system memory 12, and storage memory 13 of the autonomous mobile unit 3, and a set of the processor 31, system memory 32, and storage memory 13 of the server SV. The server SV may generate a task to direct the autonomous mobile unit 3 toward the target person 4A in response to a request signal from a portable information terminal 5 held by the target person 4A. For example, if the target person 4A wants the autonomous mobile unit 3 to come to them, the target person 4A may operate their portable information terminal 5 and send a request signal to the server SV to call the autonomous mobile unit 3. In that case, the autonomous mobile unit 3 or the server SV may determine support information in response to the input from the target person 4A to the man-machine interface 16 of the autonomous mobile unit 3 that has arrived at the target person 4A's location, and the autonomous mobile unit 3 may output the support information via the man-machine interface 16.

[0069] As described above, the embodiments have been explained as examples of the technology disclosed in this application. However, the technology in this disclosure is not limited thereto and can be applied to embodiments that have been modified, replaced, added, or omitted as appropriate. Furthermore, it is possible to combine the components described in the embodiments to create new embodiments. For example, some components or methods in one embodiment may be applied to other embodiments, and some components in an embodiment can be separated from other components in that embodiment and extracted as appropriate. In addition, the components described in the attached drawings and detailed description include not only components that are essential for solving the problem, but also components that are not essential for solving the problem, in order to illustrate the technology.

[0070] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), GPUs (Graphics Processing Units), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0071] [Embodiment] The embodiments described above are specific examples of the following embodiments.

[0072] (Aspect 1) A human activity support system that supports the activities of a target person among a plurality of people present in a predetermined area, comprising at least one autonomous mobile body including a mobile body processing circuit and a man-machine interface connected to the mobile body processing circuit, wherein the mobile body processing circuit is configured to: acquire target location information indicating a target location for the autonomous mobile body to approach the target person; generate a movement plan for autonomously moving the autonomous mobile body toward the target location based on the target location information; acquire location information indicating the location of entities present in the area; modify the movement plan in accordance with changes in the location of the entities when the autonomous mobile body is moving toward the target location; acquire support information to support the activities of the target person; and, when the autonomous mobile body has arrived at the target location, cause the man-machine interface to output the support information to the target person.

[0073] In this configuration, as the autonomous mobile unit moves towards a target point to approach a human being, it modifies its movement plan in response to changes in the positions of entities present in the area. Therefore, by modifying its movement plan in response to changing circumstances, the autonomous mobile unit can smoothly reach the vicinity of the human being and provide support information.

[0074] (Aspect 2) The human activity support system according to aspect 1, wherein the entity includes the target person, and modifying the movement plan includes modifying the target point in accordance with the change in the position of the target person.

[0075] With this configuration, even if the target human moves after the autonomous mobile unit has started moving towards a target point to approach the target human, the target point will be adjusted to match the target human's movement. Therefore, the autonomous mobile unit can approach the target human and provide support information to the target human while allowing the target human to move freely. Thus, support information can be smoothly provided from the autonomous mobile unit to the target human without reducing the target human's degree of freedom of movement.

[0076] (Aspect 3) A human activity support system according to aspect 1 or 2, further comprising a server including a server processing circuit and a server communication interface connected to the server processing circuit, wherein the autonomous mobile body further includes a mobile body communication interface connected to the mobile body processing circuit and capable of communicating with the server communication interface, the server processing circuit is configured to determine the support information to be provided to the target human, and to transmit the determined support information to the autonomous mobile body via the server communication interface, and acquiring the support information includes receiving the transmitted support information via the mobile body communication interface.

[0077] With this configuration, the server can appropriately determine the support information to be provided to the target human, and then output that support information to an autonomous mobile unit near the target human.

[0078] (Aspect 4) The human activity support system according to any one of aspects 1 to 3, further comprising a plurality of stationary sensors distributed in the area for detecting the position of the entity, wherein acquiring the position information includes receiving data detected by the plurality of stationary sensors, generating the movement plan includes generating the movement plan by referring to the data detected by the plurality of stationary sensors, and the plurality of stationary sensors includes a first stationary sensor and a second stationary sensor having a higher position detection accuracy than the first stationary sensor.

[0079] This configuration allows for the placement of a first stationary sensor in locations where high-precision position detection is not required, and a second stationary sensor in locations where high-precision position detection is required. This enables position detection tailored to specific needs while keeping the total cost of the stationary sensor group down.

[0080] (Aspect 5) The human activity support system according to any one of aspects 1 to 4, wherein the autonomous mobile body further includes a mobile body sensor connected to the mobile body processing circuit for detecting the state of the surroundings of the autonomous mobile body, and acquiring the position information includes calculating the position information indicating the position of the entity based on the data detected by the mobile body sensor.

[0081] With this configuration, the position of entities is obtained by sensors mounted on the autonomous mobile unit, thus preventing a decrease in responsiveness due to communication delays when the autonomous mobile unit modifies its movement plan.

[0082] (Aspect 6) A human activity support system according to any one of aspects 1 to 5, further comprising: a server including a server processing circuit and a server communication interface connected to the server processing circuit; a database storing personal information indicating the relationship between the characteristics of specific parts of a plurality of humans and identification information assigned to each of the plurality of humans, wherein the entity includes the plurality of humans; the autonomous mobile body further includes a mobile body communication interface connected to the mobile body processing circuit and capable of communicating with the server communication interface, and a biometric sensor connected to the mobile body processing circuit and capable of detecting the characteristics of specific parts of a target human among the plurality of humans; and a specific processing circuit, which is either the server processing circuit or the mobile body processing circuit, is configured to acquire the characteristics detected by the biometric sensor, refer to the database and acquire the identification information corresponding to the characteristics detected by the biometric sensor, identify the location of the target human, and associate the identification information with the identified location, wherein acquiring the location information indicating the location of the entity includes considering that the target human corresponding to the identification information is located at the identified location.

[0083] With this configuration, the location of a target person can be determined by detecting the characteristics of specific body parts of the target person using the biometric authentication sensor of the autonomous mobile device.

[0084] (Aspect 7) The human activity support system according to aspect 6, wherein the specific processing circuit is the mobile processing circuit, and the autonomous mobile body includes the database.

[0085] With this configuration, the database containing personal information resides within the autonomous mobile device, allowing for rapid processing without communication delays while maintaining security within the autonomous mobile device.

[0086] (Aspect 8) The human activity support system according to any one of aspects 1 to 7, wherein the mobile processing circuit is configured to perform response processing in response to input from the target human to the human-machine interface.

[0087] With this configuration, the autonomous mobile device processes responses based on the input of the target human, allowing it to provide responses that meet the target human's needs.

[0088] (Aspect 9) The autonomous mobile body further includes a cargo bed, the human activity support system according to any one of aspects 1 to 8.

[0089] With this configuration, the autonomous mobile unit can carry items for the target human on its platform.

[0090] (Aspect 10) The human activity support system according to any one of aspects 1 to 9, wherein the at least one autonomous mobile unit includes a plurality of autonomous mobile units of different types.

[0091] This configuration allows for the appropriate distribution of tasks among different types of autonomous mobile units (for example, an autonomous mobile unit including a cargo platform, an autonomous mobile unit including a multi-jointed arm, etc.).

[0092] (Aspect 11) A human activity support system according to any one of aspects 1 to 10, further comprising a server including a server processing circuit and a server communication interface connected to the server processing circuit, wherein equipment is installed in the area, and the server processing circuit is configured to calculate request information relating to the operation of the equipment, acquire location information indicating the location of the entity, and modify the request information based on the location of the entity.

[0093] This configuration allows for optimal equipment operation by changing the equipment control requirements according to the entity's location. For example, the elevator's operating plan can be adjusted according to the entity's location to improve elevator transport efficiency. Furthermore, the output of lighting or air conditioning equipment can be adjusted according to the entity's location to reduce power consumption.

[0094] (Aspect 12) A human activity support system according to any one of aspects 1 to 11, further comprising: a server including a server processing circuit and a server communication interface connected to the server processing circuit; and a database, wherein the server processing circuit is configured to acquire location information indicating the locations of the plurality of people in a time series, and to store the time series data of the locations of the plurality of people in the database as an activity history.

[0095] This configuration allows for the analysis of the behavioral history of multiple individuals within an area, which can then be used to make improvements.

[0096] (Aspect 13) An autonomous mobile body for human activity support that assists the activities of a target person among a plurality of people present in a predetermined area, comprising: a mobile body processing circuit; and a man-machine interface connected to the mobile body processing circuit, wherein the mobile body processing circuit is configured to: acquire target location information indicating a target location for the autonomous mobile body to approach the target person; generate a movement plan for autonomously moving the autonomous mobile body toward the target location based on the target location information; acquire location information indicating the location of entities present in the area; modify the movement plan in accordance with changes in the location of the entities when the autonomous mobile body is moving toward the target location; acquire support information to support the activities of the target person; and, when the autonomous mobile body has arrived at the target location, cause the man-machine interface to output the support information to the target person.

[0097] (Aspect 14) A method for supporting human activity, which supports the activities of a target human being among a group of humans present in a predetermined area, comprising: acquiring target location information indicating a target location for an autonomous mobile body to approach the target human being; generating a movement plan based on the target location information to cause the autonomous mobile body to move autonomously toward the target location; acquiring location information indicating the location of entities present in the area; modifying the movement plan in accordance with changes in the location of the entities while the autonomous mobile body is moving toward the target location; acquiring support information to support the activities of the target human being; and, when the autonomous mobile body has arrived at the target location, causing the human-machine interface of the autonomous mobile body to output the support information to the target human being.

[0098] (Aspect 15) A human activity support program that causes a computer system to execute the method described in Aspect 14.

[0099] 1 Human Activity Support System 2 Area 3 Autonomous Mobile Unit 3A, 103A First Autonomous Mobile Unit 3B Second Autonomous Mobile Unit 4 Human 4A Target Human 5 Portable Information Terminal 6 Wireless Access Point: Example of First Stationary Sensor 7 Beacon: Example of Second Stationary Sensor 8 Equipment 9 Entity 10A, 10B Mobile Unit Processing Circuit 14 Distance Sensor: Example of Mobile Unit Sensor 15 Radio Transceiver: Example of Mobile Unit Communication Interface 16 Human-Machine Interface 17 Camera: Example of Biometric Authentication Sensor and Mobile Unit Sensor 18 Communication Device: Example of Mobile Unit Communication Interface 30 Server Processing Circuit 34 Server Communication Interface DB Database SV Server P1, P2 Human Activity Support Program CS1, CS2 Computer System

Claims

1. A human activity support system that supports the activities of a target person among a group of people present in a predetermined area, comprising at least one autonomous mobile body including a mobile body processing circuit and a man-machine interface connected to the mobile body processing circuit, wherein the mobile body processing circuit is configured to: acquire target location information indicating a target location for the autonomous mobile body to approach the target person; generate a movement plan for the autonomous mobile body to move autonomously toward the target location based on the target location information; acquire location information indicating the location of entities present in the area; modify the movement plan in accordance with changes in the location of the entities when the autonomous mobile body is moving toward the target location; acquire support information to support the activities of the target person; and, when the autonomous mobile body has arrived at the target location, cause the man-machine interface to output the support information to the target person.

2. The human activity support system according to claim 1, wherein the entity includes the target person, and modifying the movement plan includes modifying the target point in accordance with a change in the position of the target person.

3. The human activity support system according to claim 1 or 2, further comprising a server including a server processing circuit and a server communication interface connected to the server processing circuit, wherein the autonomous mobile body further includes a mobile body communication interface connected to the mobile body processing circuit and capable of communicating with the server communication interface, the server processing circuit is configured to determine the support information to be provided to the target human, and to transmit the determined support information to the autonomous mobile body via the server communication interface, and acquiring the support information includes receiving the transmitted support information via the mobile body communication interface.

4. The human activity support system according to claim 1 or 2, further comprising a plurality of stationary sensors distributed in the area for detecting the location of the entity, wherein acquiring the location information includes receiving data detected by the plurality of stationary sensors, and generating the movement plan includes generating the movement plan by referring to the data detected by the plurality of stationary sensors, wherein the plurality of stationary sensors includes a first stationary sensor and a second stationary sensor having a higher position detection accuracy than the first stationary sensor.

5. The human activity support system according to claim 1 or 2, wherein the autonomous mobile body further includes a mobile body sensor connected to the mobile body processing circuit for detecting the state of the surroundings of the autonomous mobile body, and acquiring the position information includes calculating the position information indicating the location of the entity based on the data detected by the mobile body sensor.

6. A human activity support system according to claim 1 or 2, comprising: a server including a server processing circuit and a server communication interface connected to the server processing circuit; a database storing personal information indicating the relationship between the characteristics of specific body parts of a plurality of people and identification information assigned to each of the plurality of people, wherein the entity includes the plurality of people; the autonomous mobile body further includes a mobile body communication interface connected to the mobile body processing circuit and capable of communicating with the server communication interface, and a biometric sensor connected to the mobile body processing circuit and capable of detecting the characteristics of specific body parts of a target person among the plurality of people; and a specific processing circuit, which is either the server processing circuit or the mobile body processing circuit, is configured to acquire the characteristics detected by the biometric sensor, refer to the database and acquire the identification information corresponding to the characteristics detected by the biometric sensor, identify the location of the target person, and associate the identification information with the identified location, wherein acquiring the location information indicating the location of the entity includes considering that the target person corresponding to the identification information is located at the identified location.

7. The human activity support system according to claim 6, wherein the specific processing circuit is the mobile processing circuit, and the autonomous mobile body includes the database.

8. The human activity support system according to claim 1 or 2, wherein the mobile processing circuit is configured to perform response processing in response to input from the target human to the human-machine interface.

9. The human activity support system according to claim 1 or 2, wherein the autonomous mobile body further includes a cargo platform.

10. The human activity support system according to claim 1 or 2, wherein the at least one autonomous mobile unit comprises a plurality of autonomous mobile units of different types.

11. The human activity support system according to claim 1 or 2, further comprising a server including a server processing circuit and a server communication interface connected to the server processing circuit, wherein equipment is installed in the area, and the server processing circuit is configured to calculate request information relating to the operation of the equipment, acquire location information indicating the location of the entity, and modify the request information based on the location of the entity.

12. The human activity support system according to claim 1 or 2, further comprising: a server including a server processing circuit and a server communication interface connected to the server processing circuit; and a database, wherein the server processing circuit is configured to acquire location information indicating the locations of the plurality of people in a time series, and to store the time series data of the locations of the plurality of people in the database as an activity history.

13. An autonomous mobile device for human activity support that assists the activities of a target human being among a group of humans present in a predetermined area, comprising: a mobile device processing circuit; and a man-machine interface connected to the mobile device processing circuit, wherein the mobile device processing circuit is configured to: acquire target location information indicating a target location for the autonomous mobile device to approach the target human being; generate a movement plan for autonomously moving the autonomous mobile device toward the target location based on the target location information; acquire location information indicating the location of entities present in the area; modify the movement plan in accordance with changes in the location of the entities while the autonomous mobile device is moving toward the target location; acquire support information to assist the activities of the target human being; and, when the autonomous mobile device has arrived at the target location, cause the man-machine interface to output the support information to the target human being.

14. A method for supporting human activity, which supports the activities of a target human being among a group of humans present in a predetermined area, comprising: acquiring target location information indicating a target location for an autonomous mobile body to approach the target human being; generating a movement plan based on the target location information to cause the autonomous mobile body to move autonomously toward the target location; acquiring location information indicating the location of entities present in the area; modifying the movement plan in accordance with changes in the location of the entities while the autonomous mobile body is moving toward the target location; acquiring support information to support the activities of the target human being; and, when the autonomous mobile body has arrived at the target location, causing the human-machine interface of the autonomous mobile body to output the support information to the target human being.

15. A human activity support program that causes a computer system to execute the method described in claim 14.

Images