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

Claim 7:
8. A non-transitory computer readable medium storing an autonomous mobile robot control program executed in a processor of an autonomous mobile robot control system including the 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, the autonomous mobile robot control program causing the processor to execute:
detecting a plurality of moving bodies in the moving range on the basis of image information acquired using the plurality of environmental cameras;
estimating a moving route of each of the plurality of moving bodies on the basis of characteristics of each of the detected moving bodies;
setting a subset of the plurality of moving bodies whose moving routes overlap among the detected moving bodies 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 motion; and
giving an instruction to perform avoidance behavior to the avoidance processing target moving bodies on the basis of the generated avoidance procedure, and
wherein the estimating of the moving route of each of the plurality of the moving bodies further includes:
identifying 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 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.