Patent ID: 11971721
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 6:
7. An autonomous mobile robot control method in an autonomous mobile robot control system including a processor configured to manage an autonomous mobile robot on the basis of a route plan defining a moving route of the autonomous mobile robot, and a plurality of environmental cameras configured to capture images of a moving range of the autonomous mobile robot and transmit the captured images to the processor, comprising:
detecting, by the processor, a plurality of moving bodies in the moving range on the basis of image information acquired using the plurality of environmental cameras;
estimating, by the processor, a moving route of each of the plurality of moving bodies on the basis of characteristics of each of the detected moving bodies;
setting, by the processor, a subset of the plurality of moving bodies whose moving routes overlap as avoidance processing target moving bodies, and generating an avoidance procedure for the avoidance processing target moving bodies so as not to interfere with each other's; and
giving, by the processor, an instruction to perform avoidance behavior to the avoidance processing target moving bodies on the basis of the generated avoidance procedure, wherein
the estimating, by the processor, of the moving route of each of the plurality of moving bodies further includes:
identifying, by processor, the moving route of the autonomous mobile robot in a period later than the present time on the basis of route plan information indicating the route plan for the autonomous mobile robot, and
estimating, by processor, a moving route of a first moving body of the plurality of moving bodies different from the autonomous mobile robot among the detected moving bodies on the basis of characteristics of the first moving body and an action history of the first moving body in a period earlier than the present time.