AUTONOMOUS MOBILE SYSTEM, AUTONOMOUS MOBILE METHOD, AND STORAGE MEDIUM

An autonomous mobile system according to the present embodiment includes: obstacle detection means for detecting an obstacle in an aisle; distance measurement means for measuring a distance from the obstacle; obstacle determination means for determining a kind of the obstacle; and storage means for storing a predetermined distance set according to the kind of the obstacle. The autonomous mobile system travels with the predetermined distance from the obstacle depending on the kind of the obstacle.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to Japanese Patent Application No. 2021-014463 filed on Feb. 1, 2021, incorporated herein by reference in its entirety.

BACKGROUND

1. Technical Field

The present disclosure relates to an autonomous mobile system, an autonomous mobile method, and a storage medium.

2. Description of Related Art

Development of autonomous mobile devices that autonomously move within a predetermined building or facility is in progress. Such an autonomous mobile device having a loading platform can serve as an automatic delivery device that automatically delivers a package. The automatic delivery device can, for example, deliver the package loaded at the departure point to the destination by autonomously moving from the departure point to the destination.

For example, in the range where the autonomous mobile robot travels, it is conceivable that there are places where people actually pass and it is not preferable to approach, such as obstacles and stairs. Japanese Unexamined Patent Application Publication No. 2010-176203 (JP 2010-176203 A) discloses an autonomous mobile robot that includes a mark detector for detecting a mark for safety confirmation, environmental information acquisition means, position information acquisition means, and storage means for storing self-position information, map information, and control parameters. When there is no mark indicating a safe area, the autonomous mobile robot regards the area as a dangerous area and stops moving.

SUMMARY

Points with a high probability of being used by people, such as handrails, are also considered to be unpreferable places for autonomous mobile robots to travel. However, in order to avoid interference with such a point, traveling in a large detour may reduce work efficiency depending on the purpose of the robot such as transportation.

The present disclosure has been made to solve the issue described above, and provides an autonomous mobile system, an autonomous mobile method, and a storage medium capable of improving movement efficiency of the mobile robot.

An autonomous mobile system according to the present embodiment is an autonomous mobile system that autonomously moves in a facility. The autonomous mobile system includes: obstacle detection means for detecting an obstacle in an aisle; distance measurement means for measuring a distance from the obstacle; obstacle determination means for determining a kind of the obstacle; and storage means for storing the predetermined distance set according to the kind of the obstacle. The autonomous mobile system travels with the predetermined distance from the obstacle depending on the kind of the obstacle. With such a configuration, the movement efficiency of the mobile robot can be improved.

An autonomous mobile system according to the present embodiment includes an autonomous mobile device that autonomously moves in a facility. When there is an obstacle in an aisle where the autonomous mobile device travels, the autonomous mobile device travels with a predetermined distance set according to a kind of the obstacle, from the obstacle. With such a configuration, the movement efficiency of the mobile robot can be improved.

The above autonomous mobile system further includes a server device that transmits and receives traveling information to and from the autonomous mobile device. The server device includes, of the autonomous mobile system, at least one of: obstacle detection means for detecting the obstacle in the aisle; distance measurement means for measuring a distance from the obstacle; obstacle determination means for determining the kind of the obstacle; and storage means for storing the predetermined distance set according to the kind of the obstacle. With such a configuration, the movement efficiency of the mobile robot can be improved while suppressing the interference with the obstacle.

In the above autonomous mobile system, the obstacle is an installed object installed in the aisle to be used by a person, and the predetermined distance is a distance for the person to use the installed object. With such a configuration, the movement efficiency of the mobile robot can be improved while suppressing the interference with the installed object.

In the above autonomous mobile system, the installed object includes at least one of a handrail, a bench, and a bulletin board. With such a configuration, the movement efficiency of the mobile robot can be improved while suppressing the interference with a handrail, a bench, a bulletin board, and the like.

In the above autonomous mobile system, when detecting the person who uses the installed object, the autonomous mobile system changes a speed of autonomous movement. With such a configuration, it is possible to suppress the interference with a person who uses the installed object.

In the above autonomous mobile system, when a predetermined moving body approaches and the autonomous mobile system does not detect the person who uses the installed object, the autonomous mobile system travels with a smaller distance from the installed object than the predetermined distance. With such a configuration, the movement efficiency of the mobile robot can be further improved.

An autonomous mobile method according to the present embodiment is an autonomous mobile method for an autonomous mobile device that autonomously moves in a facility provided with an aisle. The autonomous mobile method includes: a step of determining a kind of an obstacle when the autonomous mobile device detects the obstacle in the aisle where the autonomous mobile device travels; a step of preparing a predetermined distance set according to the kind of the obstacle; and a step of traveling with the predetermined distance from the obstacle. With such a configuration, the movement efficiency of the mobile robot can be improved.

A storage medium according to the present embodiment stores an autonomous mobile program for an autonomous mobile device that autonomously moves in a facility provided with an aisle. The autonomous mobile program causes a computer to execute: determination of a kind of an obstacle when the autonomous mobile device detects the obstacle in the aisle where the autonomous mobile device travels; preparation of a predetermined distance set according to the kind of the obstacle; and traveling with the predetermined distance from the obstacle. With such a configuration, the movement efficiency of the mobile robot can be improved.

The present embodiment can provide an autonomous mobile system, an autonomous mobile method, and a storage medium capable of improving the movement efficiency.

DETAILED DESCRIPTION OF EMBODIMENTS

Hereinafter, the present disclosure will be described through embodiments of the disclosure, but the disclosure is not limited to the following embodiments. Moreover, not all of the configurations described in the embodiments are indispensable as means for solving the problem. For the sake of clarity, the following description and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are designated by the same reference signs, and duplicate descriptions are omitted as necessary.

First Embodiment

An autonomous mobile system according to a first embodiment will be described. In the present embodiment, the autonomous mobile system may be replaced with an autonomous mobile device, or the autonomous mobile device may be replaced with the autonomous mobile system. Further, the autonomous mobile system according to the present embodiment may include the autonomous mobile device. The autonomous mobile device autonomously moves in a predetermined facility. The autonomous mobile device may be, for example, a mobile robot that autonomously moves, or a transportation robot that autonomously moves to transport an object. Hereinafter, the mobile robot will be described as an example of the autonomous mobile device. The mobile robot will be described separately in “Structure of Mobile Robot” and “Operation of Mobile Robot”.

Structure of Mobile Robot

FIG. 1is a schematic view illustrating the mobile robot according to the first embodiment. As shown inFIG. 1, a mobile robot100is an example of the autonomous mobile device that autonomously moves in a predetermined facility900. The predetermined facility900is, for example, a hospital. The predetermined facility900is not limited to a hospital, and may be a hotel, a shopping mall, or the like as long as the mobile robot100can move autonomously in the predetermined facility900. An installed object905such as a handrail is installed in the facility900. The installed object905is used by a person907.

The mobile robot100autonomously moves on a floor surface910in the facility900. A facility camera400is fixed in the facility900. For example, the facility camera400is fixed to a ceiling920of the facility900, and captures images of surrounding areas of the facility camera400to generate image data. The facility camera400captures images of, for example, an aisle, a corner, a passerby, another mobile robot100, and the like. A plurality of the facility cameras400may be provided in the facility900.

The mobile robot100and the facility camera400are connected to each other so as to be able to communicate with each other via information transmission means such as wireless communication. The mobile robot100and the facility camera400may be connected to each other so as to be able to directly communicate with each other, or may be connected to each other so as to be able to communicate with each other via an access point500and a server device300. Therefore, the mobile robot100may acquire the image data directly from the facility camera400, or may acquire the image data via the access point500and the server device300.

The access point500is, for example, a wireless local area network (LAN) access point. The access point500is fixed in the facility900and acquires position information, traveling information, and the like from the mobile robot100located in the periphery of the access point500. A plurality of the access points500may be provided in the facility900.

A plurality of the mobile robots100may autonomously move in the facility900. When the mobile robots100autonomously move, the mobile robots100may be connected to each other so as to be able to communicate with each other via information transmission means such as wireless communication. The mobile robots100may be connected to each other so as to be able to directly communicate with each other, or may be connected to each other so as to be able to communicate with each other via the access point500and the server device300.

FIG. 2is a perspective view illustrating the mobile robot100according to the first embodiment.FIG. 3is a block diagram illustrating the mobile robot100according to the first embodiment. As shown inFIGS. 2 and 3, the mobile robot100includes a drive unit110, a housing unit120, a communication unit130, an operation reception unit140, a display unit150, a sensor group160, an identification (ID) sensor170, a control unit180, and a storage unit190.

As shown inFIG. 2, the mobile robot100is a moving body that moves on the floor surface910that is a moving surface. Here, for convenience of explanation of the mobile robot100, the XYZ orthogonal coordinate axis system is used. The floor surface910is the XY-plane, and the upper side is the +Z axis direction.

The drive unit110functions as means for moving the mobile robot100. The drive unit110includes two drive wheels111that are in contact with the floor surface910and are rotatable independently from each other about one rotation axis that extends in a direction (right-left direction or Y-axis direction in the drawing) perpendicular to a straight direction (front-rear direction or X-axis direction in the drawing), and casters112in contact with the floor surface910. The mobile robot100moves forward or rearward in a manner such that the drive wheels111disposed on the right and left sides are driven at the same rotation speed, and makes a turn by generating a difference in the rotation speed or rotation direction between the right and left drive wheels111. The drive unit110drives the drive wheels111in accordance with commands from the control unit180.

The housing unit120is disposed above the drive unit110of the mobile robot100. The housing unit120may have a storage chamber door121. In this case, the housing unit120functions as storage means for objects. When the storage chamber door121is opened, a storage chamber for storing a predetermined object is provided inside the housing unit120. That is, the mobile robot100can also be a transportation robot that transports a predetermined object. The housing unit120may open and close the storage chamber door121in accordance with a command from the control unit180.

As shown inFIG. 3, the communication unit130is an interface that is communicably connected to the outside. Thus, the communication unit130functions as communication means. The communication unit130includes, for example, an antenna and a circuit that modulates or demodulates a signal transmitted through the antenna. The communication unit130receives the image data directly from the facility camera400or via the access point500and the server device300.

Further, the communication unit130may receive information related to the destination, the position information, the traveling information and the like from the server device300. Further, the communication unit130may transmit information related to the state of the mobile robot100, the position information, the traveling information, and the like to the server device300. Further, the communication unit130may transmit and receive the position information and the image data to and from the other mobile robot100directly or via the access point500and the server device300.

The communication unit130may periodically transmit a heartbeat signal to the server device300. The heartbeat signal may include log data indicating the state of the mobile robot100in the chronological order. Further, the heartbeat signal may include the ID of the mobile robot100and the ID of a user.

The communication unit130connects to the control unit180, outputs, to the control unit180, a signal including information transmitted from the facility camera400and the server device300, and transmits, to the server device300, the signal including the information output from the control unit180.

The operation reception unit140receives an input operation from the user and transmits an operation signal to the control unit180. As means for receiving an input operation from the user, the operation reception unit140may include, for example, an operation button, a touch panel superimposed on the display unit150, or the like. The user operates the input operation means described above to turn on and off the power supply, open and close the storage chamber door121, and the like.

The display unit150is provided, for example, so as to project from the upper surface of the housing unit120. The display unit150is, for example, a display unit including a rectangular liquid crystal panel. The display unit150appropriately displays information in accordance with the command from the control unit180. The display unit150functions as display means for information. A touch panel that receives operations from the user may be superimposed on the display unit150.

The sensor group160includes sensors that acquire data necessary for the mobile robot100to move autonomously. The sensor group160functions as obstacle detection means for detecting an obstacle in the aisle. The sensor group160also functions as distance measurement means for measuring a distance from an obstacle in the aisle. The sensor group160includes, for example, a robot camera161and a distance sensor162. The sensor group160may appropriately include sensors other than the robot camera161and the distance sensor162.

The robot camera161is disposed in an upper portion of the housing unit120and below the display unit150, for example. In the robot camera161, two camera units having the same angle of view may be disposed horizontally separated from each other. With this configuration, the images captured by each camera unit are output to the control unit180as the image data.

The distance sensor162is disposed, for example, in the lower portion of the housing unit120. The distance sensor162may be disposed in the lower portion of each of a surface on the +X-axis direction side, a surface on the −X-axis direction side, a surface on the +Y-axis direction side, and a surface on the −Y-axis direction side of the housing unit120. The distance sensor162measures the distance between an object around the mobile robot100and the mobile robot100. The control unit180recognizes the obstacle around the mobile robot100by analyzing the image data output by the robot camera161and the detection signals output by the distance sensor162, and measures the distance between the mobile robot100and the obstacle.

The ID sensor170is provided, for example, near the display unit150. The ID sensor170identifies the ID of the user who operates the mobile robot100, and detects a unique identifier included in the ID card owned by each user. The ID sensor170includes, for example, an antenna for reading information on a wireless tag. The user brings the ID card close to the ID sensor170such that the mobile robot100is caused to recognize the ID of the user who is the operator.

The control unit180is an information processing device including an arithmetic device such as a central processing unit (CPU). The control unit180includes hardware (an example of a storage medium) provided in the control unit180and a program stored in the hardware. That is, processes executed by the control unit180are realized by either hardware or software.

The control unit180acquires various types of information from each configuration and issues a command to each configuration in accordance with the acquired information. For example, the control unit180detects the distance between the mobile robot100and the surrounding object from the image data acquired from the robot camera161and the information on the object around the mobile robot100acquired from the distance sensor162. Then, the control unit180calculates a route to the destination from the detected distance, and commands the drive unit110to move along the route in accordance with the calculated route. When executing such a process, the control unit180refers to information related to a floor map stored in the storage unit190. Further, the control unit180determines the kind of the obstacle in the aisle where the mobile robot100travels. For example, the control unit180recognizes the characteristics of the obstacle detected by the sensor group160to determine the kind of the obstacle. Thus, the control unit180functions as obstacle determination means for determining the kind of the obstacle.

The storage unit190includes a non-volatile memory such as a flash memory and a solid state drive (SSD). The storage unit190stores the floor map of the facility used by the mobile robot100for autonomous movement. The storage unit190also stores information on the obstacle and the installed object905. The storage unit190also stores a predetermined distance906set according to the kind of the obstacle and the installed object905. The predetermined distance906is a distance set according to the kind of the obstacle and is a distance between the obstacle and the mobile robot100that travels. Thus, the storage unit190functions as storage means. The storage unit190is connected to the control unit180, and outputs stored information to the control unit180in response to a request from the control unit180.

As shown inFIG. 2, the mobile robot100has the +X-axis direction side on which the robot camera161is installed as the front. That is, during normal movement, the traveling direction is the +X-axis direction as shown by the arrow.

Various ideas can be adopted for how to define the front of the mobile robot100. For example, the front can be defined based on how the sensor group160for recognizing the surrounding environment is disposed. Specifically, the +X-axis direction side of the housing unit120on which the sensor having high recognition ability is disposed or many sensors are disposed can be set as the front. By defining the front as described above, the mobile robot100can move while recognizing the surrounding environment more accurately. The mobile robot100according to the present embodiment also has the +X-axis direction side on which the robot camera161is disposed as the front.

Alternatively, the front can be defined based on how the display unit150is disposed. When the display unit150displays the face of the character or the like, the surrounding people naturally recognize that the display unit150is the front of the mobile robot100. Therefore, when the display surface side of the display unit150is set as the front, there is little discomfort to the surrounding people. The mobile robot100according to the present embodiment also has the display surface side of the display unit150as the front.

Further, the front may be defined based on a shape of the housing of the mobile robot100. For example, when the projected shape of the housing unit120on the traveling surface is rectangular, it is better to have the short side as the front than the longitudinal side as the front, whereby people who pass by the mobile robot100are not obstructed during moving. That is, depending on the shape of the housing, there is a housing surface that is preferably set as the front when the mobile robot100moves normally. The mobile robot100according to the present embodiment has the short side of the rectangular shape as the front. As described above, for the mobile robot100, the front is defined so as to match some ideas. However, the idea used to define the front may be determined in consideration of the shape and role of the mobile robot.

Operation of Mobile Robot

Next, the operation of the mobile robot according to the present embodiment will be described. For example, the user turns on the power supply of the mobile robot100. Then, the user inputs a desired task to the operation reception unit140. When necessary, the ID sensor170identifies the ID of the user when the power supply is turned on or when the user operates the operation reception unit140.

In order to transport the object as a desired task, the user operates the operation reception unit140to open the storage chamber door121and store the object in the storage chamber. Then, the user operates the operation reception unit140to close the storage chamber door121. Next, the user inputs the destination of the object using the operation reception unit140. The control unit180of the mobile robot100searches for a route to the destination using the floor map stored in the storage unit190. The mobile robot100autonomously moves along the searched route.

FIG. 4is a plan view illustrating a movement method of the mobile robot100in the facility900according to the first embodiment. As shown inFIG. 4, the facility900is provided with an aisle902extending in the X-axis direction. The installed object905installed to be used by the person907is provided at a predetermined position in the aisle902. The installed object905is, for example, a handrail. Note that the installed object905is not limited to a handrail. For example, the installed object905may be any object installed to be used by the person907, such as a bench and a bulletin board.

The mobile robot100moves in the aisle902from the −X-axis direction side to the +X-axis direction side. The mobile robot100basically travels alongside the wall. This suppresses the mobile robot100from obstructing the person907and other mobile robots100that move in the aisle902. When there is an obstacle in the aisle902where the mobile robot100travels, the mobile robot100travels with the predetermined distance906set according to the kind of the obstacle, from the obstacle. The obstacle is, for example, the installed object905installed in the aisle902to be used by the person907. The predetermined distance906is a distance provided for the person907to use the installed object905, and is set according to the kind of the installed object905.

For example, when the installed object905is a handrail, the predetermined distance906is a distance at which the mobile robot100does not interfere with the person907who is walking while holding the handrail. When the installed object905is a bench, the predetermined distance906is a distance at which the mobile robot100does not interfere with the person907seated on the bench. When the installed object905is a bulletin board, the predetermined distance906is a distance at which the mobile robot100does not interfere with the person907who is looking at the bulletin board.

The obstacle is not limited to the installed object905, and may be a moving body that moves such as another mobile robot100and a stretcher. Even in this case, the predetermined distance906may be set according to the kind of the obstacle.

The mobile robot100may detect the obstacle such as the installed object905by the robot camera161, or may detect the obstacle from the floor map stored in the storage unit190in advance. Alternatively, the mobile robot100may detect the obstacle from the image data captured by the facility camera400. The image data may be transmitted directly from the facility camera400or may be transmitted via the server device300and the access point500.

When the mobile robot100traveling alongside the wall detects the installed object905, the mobile robot100travels with the predetermined distance906from the installed object905. As a result, it is possible to suppress the interference between the mobile robot100and the person907who uses the installed object905. Further, since the mobile robot100does not have to make a large detour, the movement efficiency can be improved.

When the mobile robot100detects the installed object905, the mobile robot100may travel with the predetermined distance906regardless of whether the person907who uses the installed object905is detected or the person907who uses the installed object905is not detected. Further, the configuration may be such that the mobile robot100travels with the predetermined distance906when the mobile robot100detects the installed object905and the person907who uses the installed object905, and the mobile robot100does not secure the predetermined distance906when the mobile robot100detects only the installed object905.

The mobile robot100may change the speed of the autonomous movement when the mobile robot100detects the person907who uses the installed object905. As a result, it is possible to further suppress the interference between the mobile robot100and the person907who uses the installed object905.

FIG. 5is a plan view illustrating a movement method of the mobile robot100in the facility900according to the first embodiment. As shown inFIG. 5, for example, the mobile robot100may travel with a smaller distance from the installed object905than the predetermined distance906when a predetermined moving body904approaches and the mobile robot100does not detect the person907who uses the installed object905. As a result, the movement efficiency of the mobile robot100can be further improved while ensuring the traveling safety of the mobile robot100.

Next, the operation of the mobile robot100described above will be described with reference to a flowchart.FIG. 6is a flowchart illustrating a movement method of the mobile robot100in the facility900according to the first embodiment. As shown in step S101ofFIG. 6, the mobile robot100determines whether an obstacle has been detected. For example, the control unit180of the mobile robot100determines whether the sensor group160has detected the obstacle in the aisle902. In step S101, when the obstacle has not been detected, step S101is repeated.

In contrast, when the mobile robot100has detected an obstacle in step S101, the mobile robot100determines the kind of the obstacle as shown in step S102. For example, the control unit180of the mobile robot100determines the kind of the obstacle from the information on the obstacle detected by the sensor group160. For example, the control unit180determines the kind of the obstacle from the image of the obstacle captured by the robot camera161.

Next, as shown in step S103, the mobile robot100prepares the predetermined distance906set according to the kind of the obstacle. For example, the control unit180obtains the predetermined distance906set according to the kind of the obstacle from the storage unit190. The predetermined distance906may be stored in the storage unit190in advance.

Subsequently, as shown in step S104, the mobile robot100travels with the predetermined distance906from the obstacle. According to the present embodiment, the mobile robot100can improve the movement efficiency while suppressing the interference with the obstacle. The mobile robot100may change the speed of the autonomous movement of the mobile robot100when traveling with the predetermined distance906from the obstacle. For example, the mobile robot100may lower the speed compared to the speed when traveling in an aisle without any obstacles.

First Modification of First Embodiment

Next, a first modification will be described. The first modification is an example in which the obstacle is the installed object905.FIG. 7is a flowchart illustrating a movement method of the mobile robot100in the facility900according to the first modification of the first embodiment.

As shown in step S111ofFIG. 7, the mobile robot100determines whether an obstacle has been detected. In step S111, when the obstacle has not been detected, step S111is repeated.

In contrast, when the mobile robot100has detected an obstacle in step S111, the mobile robot100determines whether the obstacle is the installed object905as shown in step S112. For example, the control unit180of the mobile robot100determines whether the obstacle is the installed object905from the information on the obstacle detected by the sensor group160. When the obstacle is not the installed object905in step S112, the process proceeds to step S102ofFIG. 6described above, and steps S102to S104are executed.

In contrast, when the obstacle is the installed object905in step S112, the kind of the installed object905is determined as shown in step S113. For example, the control unit180of the mobile robot100determines the kind of the installed object905from the information on the installed object905detected by the sensor group160.

Next, as shown in step S114, the mobile robot100prepares the predetermined distance906set according to the kind of the installed object905. For example, the control unit180obtains the predetermined distance906set according to the kind of the installed object905from the storage unit190. The predetermined distance906may be stored in the storage unit190in advance. For example, when the installed object905is a handrail, the predetermined distance906is a distance at which the mobile robot100does not obstruct the person907who walks while holding the handrail.

Subsequently, as shown in step S115, the mobile robot100travels with the predetermined distance906from the installed object905. According to the present modification, it is possible to improve the movement efficiency of the mobile robot100while ensuring the safety of the person who uses the installed object905.

Second Modification of First Embodiment

Next, a second modification will be described. The second modification is a method of distinguishing the case where there is a person907who uses the installed object905and the case where there is no person907who uses the installed object905, when the obstacle is the installed object905.FIG. 8is a flowchart illustrating a movement method of the mobile robot100in the facility900according to the second modification of the first embodiment.

Next, as shown in step S125, it is determined whether a person who uses the installed object905has been detected. For example, the control unit180of the mobile robot100determines whether a person who uses the installed object905has been detected from the information on the installed object905detected by the sensor group160. When a person who uses the installed object905has been detected in step S125, the mobile robot100travels with the predetermined distance906from the installed object905as shown in step S126.

In contrast, when a person who uses the installed object905has not been detected in step S125, the mobile robot100travels with a smaller distance from the installed object905than the predetermined distance906as shown in step S127. According to the present modification, it is possible to improve the movement efficiency while ensuring the safety of the person who uses the installed object905.

Third Modification of First Embodiment

Next, a third modification will be described. The third modification is a method of passing by the moving body904when the obstacle is the installed object905.FIG. 9is a flowchart illustrating a movement method of the mobile robot100in the facility900according to the third modification of the first embodiment.

Next, as shown in step S135, it is determined whether the moving body904has been detected. For example, the control unit180of the mobile robot100determines whether the sensor group160has detected the moving body904. When the moving body904has not been detected in step S135, the process proceeds to step S115or step S125.

In contrast, when the moving body904has been detected in step S135, the mobile robot100determines whether it is possible to pass by the moving body904as shown in step S136. In step S136, when the mobile robot100cannot pass by the moving body904, the mobile robot100performs a predetermined process. For example, the mobile robot100may stop at the edge of the aisle902, or may go back in the aisle902.

In contrast, when it is possible to pass by the moving body904in step S136, it is determined whether a person907who uses the installed object905has been detected as shown in step S137. For example, the control unit180of the mobile robot100determines whether a person907who uses the installed object905has been detected from the information on the installed object905detected by the sensor group160. When a person907who uses the installed object905has been detected in step S137, the mobile robot100travels with the predetermined distance906from the installed object905as shown in step S138.

In contrast, when a person907who uses the installed object905has not been detected in step S137, the mobile robot100travels with a smaller distance from the installed object905than the predetermined distance906as shown in step S139.

As described above, in the third modification, the mobile robot100travels with a smaller distance from the installed object905than the predetermined distance906when a predetermined moving body904approaches and the mobile robot100does not detect the person907who uses the installed object905. According to the present modification, even when the moving body904passes by, the movement efficiency can be improved while ensuring the safety of the person907who uses the installed object905.

Second Embodiment

Next, an autonomous mobile system according to a second embodiment will be described. The autonomous mobile system according to the present embodiment is a system that controls an autonomous mobile device that autonomously moves in the predetermined facility900. The autonomous mobile system will be described separately in “Configuration of Autonomous Mobile System” and “Operation of Autonomous Mobile System”.

Configuration of Autonomous Mobile System

The autonomous mobile system includes the mobile robot100. The autonomous mobile system may include a plurality of the mobile robots100. Further, the autonomous mobile system may include the server device300and the facility camera400in addition to the mobile robot100.

Mobile Robot

The configuration of the mobile robot100according to the present embodiment is the same as that of the first embodiment described above. The mobile robot100according to the present embodiment may cause the server device300to execute some of the functions of the mobile robot100according to the first embodiment.

For example, the communication unit130may transmit the information on the obstacle detected by the sensor group160to the server device300. Then, the communication unit130may receive the information on the kind of the obstacle and the information on the predetermined distance906set according to the kind of the obstacle from the server device300.

Server Device

The server device300is, for example, a computer having a communication function. The server device300may be installed at any place as long as the server device300can communicate with each configuration of the autonomous mobile system. The server device300may transmit and receive the traveling information to and from the mobile robot100, and may acquire the image data from the facility camera400. The server device300may include, for example, at least one of the obstacle detection means, the distance measurement means, the obstacle determination means, and the storage means of the mobile robot100of the first embodiment described above.

FIG. 10is a block diagram illustrating the server device according to the second embodiment. As shown inFIG. 10, the server device300includes a communication unit330, a control unit380, and a storage unit390.

The communication unit330communicates with the mobile robot100and the facility camera400individually. The communication unit330outputs a signal received from each configuration, to the control unit380. Further, the communication unit330appropriately transmits a signal output from the control unit380, to each configuration. The communication unit330may include a router device for performing communication between a plurality of the mobile robots100and the facility camera400. The communication unit330may include a plurality of communication means different for each component to communicate with a plurality of the mobile robots100and the facility camera400. The communication unit330may be communicably connected to each configuration via an intranet line or the Internet line.

The communication unit330may receive the information on the obstacle detected by the mobile robot100from the mobile robot100. Further, the communication unit330may receive the image data of the obstacle captured by the facility camera400from the facility camera400. The communication unit330outputs the received information on the obstacle to the control unit380. Further, the communication unit330may receive the information on the kind of the obstacle and the information on the predetermined distance906set according to the kind of the obstacle that have been determined by the control unit380and transmit the information to the mobile robot100.

The control unit380is configured by an arithmetic device such as a CPU and executes various types of information processing. The control unit380may detect the obstacle from the information of the mobile robot100and the facility camera400. Further, the control unit380may measure the distance from the obstacle, or may determine the kind of the obstacle and the predetermined distance906according to the kind of the obstacle, from the information on the obstacle.

The storage unit390includes a non-volatile memory such as a flash memory and an SSD. The storage unit390stores the floor map of the facility used by the mobile robot100for the autonomous movement. Further, the storage unit390stores the information on the obstacle, the information on the installed object905, and the predetermined distance906set according to the kind of the obstacle. The storage unit390is connected to the control unit380, and outputs stored information to the control unit380in response to a request from the control unit380.

Operation of Autonomous Mobile System

Next, the operation of the autonomous mobile system will be described.FIG. 11is a sequence diagram illustrating a movement method of the mobile robot100in the facility900according to the second embodiment. As shown in step S201ofFIG. 11, the mobile robot100determines whether an obstacle has been detected. For example, the control unit180of the mobile robot100determines whether the sensor group160has detected the obstacle in the aisle902. In step S201, when the obstacle has not been detected, step S201is repeated.

In contrast, when the obstacle has been detected in step S201, the mobile robot100transmits the information on the obstacle to the server device300as shown in step S202. For example, the communication unit130of the mobile robot100transmits the information on the obstacle detected by the sensor group160to the communication unit330of the server device300. In response to this, the server device300receives the information on the obstacle.

Further, as shown in step S203, the facility camera400may capture an image of the periphery of the mobile robot100. Then, as shown in step S204, the facility camera400may transmit the captured image data to the server device300.

Next, as shown in step S205, the server device300determines the kind of the obstacle from the information on the obstacle received from the mobile robot100. The server device300may detect the obstacle from the image data of the facility camera400. The server device300may then determine the kind of the obstacle that has been detected.

Next, as shown in step S206, the server device300prepares the predetermined distance906set according to the kind of the obstacle. For example, the control unit380obtains the predetermined distance906from the storage unit390. The predetermined distance906may be stored in the storage unit390in advance.

Next, as shown in step S207, the server device300transmits the prepared predetermined distance906to the mobile robot100. For example, the communication unit330of the server device300transmits the prepared predetermined distance906to the communication unit130of the mobile robot100. In response to this, the mobile robot100receives the predetermined distance906.

Subsequently, as shown in step S208, the mobile robot100travels with the predetermined distance906from the obstacle. According to the present embodiment, since the server device300determines the kind of the obstacle and prepares the predetermined distance906, the burden on the mobile robot100can be reduced and the processing speed of the mobile robot100can be improved.

First Modification of Second Embodiment

Next, a first modification will be described. The first modification is an example in which the obstacle is the installed object905.FIG. 12is a sequence diagram illustrating a movement method of the mobile robot100in the facility900according to a first modification of the second embodiment.

As shown in step S211ofFIG. 12, the mobile robot100determines whether an obstacle has been detected. In step S211, when the obstacle has not been detected, step S211is repeated.

In contrast, when the obstacle has been detected in step S211, the mobile robot100transmits the information on the obstacle to the server device300as shown in step S212. In response to this, the server device300receives the information on the obstacle.

Further, as shown in step S213, the facility camera400may capture an image of the periphery of the mobile robot100. Then, as shown in step S214, the facility camera400may transmit the captured image data to the server device300.

Next, as shown in step S215, the server device300determines whether the obstacle received from the mobile robot100is an installed object from the information on the obstacle received from the mobile robot100. The server device300may detect the obstacle from the image data of the facility camera400and determine whether the detected obstacle is an installed object. In step S215, when the obstacle is not the installed object905, the process proceeds to step205ofFIG. 11described above.

In contrast, when the obstacle is the installed object905in step S215, the kind of the installed object905is determined as shown in step S216. For example, the control unit380of the server device300determines the kind of the installed object905by comparing with the information of the installed object905stored in the storage unit390.

Next, as shown in step S217, the server device300prepares the predetermined distance906set according to the kind of the installed object905. For example, the control unit380obtains the predetermined distance906set according to the kind of the installed object905, from the storage unit390.

Next, as shown in step S218, the server device300transmits the prepared predetermined distance906to the mobile robot100. For example, the communication unit330of the server device300transmits the prepared predetermined distance906to the communication unit130of the mobile robot100. In response to this, the mobile robot100receives the predetermined distance906.

Subsequently, as shown in step S219, the mobile robot100travels with the predetermined distance906from the installed object905. According to the present modification, the movement efficiency of the mobile robot100can be improved while suppressing the interference with the installed object905.

Second Modification of Second Embodiment

Next, a second modification will be described. The second modification is a method of distinguishing the case where there is a person907who uses the installed object905and the case where there is no person907who uses the installed object905, when the obstacle is the installed object905.FIG. 13is a sequence diagram illustrating a movement method of the mobile robot100in the facility900according to the second modification of the second embodiment.

As shown in step S228, the server device300may detect whether there is a person907who uses the installed object905. For example, the control unit380of the server device300may detect from the image of the facility camera400whether there is a person907who uses the installed object905.

Next, as shown in step S229, the server device300transmits the prepared predetermined distance906to the mobile robot100. At that time, the server device300may transmit to the mobile robot100information including whether there is a person907who uses the installed object905as the predetermined distance or the like. In response to this, the mobile robot100receives the predetermined distance or the like.

Next, as shown in step S230, the mobile robot100determines whether a person907who uses the installed object905has been detected. For example, the control unit180of the mobile robot100determines whether a person907who uses the installed object905has been detected from the information on the installed object905detected by the sensor group160. Alternatively, the control unit180of the mobile robot100may determine whether a person907who uses the installed object905has been detected from the information on the predetermined distance or the like received from the server device300.

When a person907who uses the installed object905has been detected in step S230, the mobile robot100travels with the predetermined distance906from the installed object905as shown in step S231.

In contrast, when a person907who uses the installed object905has not been detected in step S230, the mobile robot100travels with a smaller distance from the installed object905than the predetermined distance906as shown in step S232. According to the present modification, the movement efficiency of the mobile robot100can be further improved.

Third Modification of Second Embodiment

Next, a third modification will be described. The third modification is a method of passing by the moving body904when the obstacle is the installed object905.FIG. 14is a sequence diagram illustrating a movement method of the mobile robot100in the facility900according to the third modification of the second embodiment.

As shown in step S248, the server device300may detect the moving body904. For example, the control unit380of the server device300may detect whether there is a moving body904from the image of the facility camera400. Then, as shown in step S249, when there is a moving body904, the server device300may determine whether it is possible to pass by each other. Further, as shown in step S250, the server device300may detect whether there is a person907who uses the installed object905.

Next, as shown in step S251, the server device300transmits the prepared predetermined distance906to the mobile robot100. At that time, the server device300may transmit to the mobile robot100information including whether there is a moving body904, whether the mobile robot100can pass by the moving body904, and whether there is a person907who uses the installed object905, as the predetermined distance or the like. In response to this, the mobile robot100receives the predetermined distance or the like.

Subsequently, as shown in step S252, the mobile robot100determines whether the moving body904has been detected. For example, the control unit180of the mobile robot100determines whether the sensor group160has detected the moving body904. Alternatively, the control unit180of the mobile robot100may determine whether there is a moving body904from the information on the predetermined distance or the like received from the server device300. When the moving body904has not been detected in step S252, the process proceeds to step S219ofFIG. 12or step S230ofFIG. 13.

In contrast, when the moving body904has been detected in step S252, the mobile robot100determines whether it is possible to pass by the moving body904as shown in step S253. In step S253, when the mobile robot100cannot pass by the moving body904, the mobile robot100performs a predetermined process. For example, the mobile robot100may stop at the edge of the aisle902, or may go back in the aisle902.

In contrast, when it is possible to pass by the moving body904in step S253, it is determined whether a person907who uses the installed object905has been detected as shown in step S254. For example, the control unit180of the mobile robot100determines whether a person907who uses the installed object905has been detected from the information on the installed object905detected by the sensor group160. Alternatively, the control unit180of the mobile robot100may determine whether there is a person907who uses the installed object905from the information on the predetermined distance or the like received from the server device300.

When a person907who uses the installed object905has been detected in step S254, the mobile robot100travels with the predetermined distance906from the installed object905as shown in step S255.

In contrast, when a person907who uses the installed object905has not been detected in step S254, the mobile robot100travels with a smaller distance from the installed object905than the predetermined distance906as shown in step S256. According to the present modification, even when passing by the moving body904, the movement efficiency of the mobile robot100can be improved while suppressing the interference with the installed object905.

The present disclosure is not limited to the above embodiments, and can be appropriately modified without departing from the spirit. For example, a combination of the configurations of the first and second embodiments is also included in the scope of the technical idea of the present embodiment. In addition, the autonomous mobile method, autonomous mobile program, and a storage medium storing the autonomous mobile program described below are also included in the scope of the technical idea of the present embodiment.

An autonomous mobile method for an autonomous mobile device that autonomously moves in a facility provided with an aisle, the autonomous mobile method comprising:

a step of determining a kind of an obstacle when the autonomous mobile device detects the obstacle in the aisle where the autonomous mobile device travels;
a step of preparing a predetermined distance set according to the kind of the obstacle; and
a step of traveling with the predetermined distance from the obstacle.

The autonomous mobile method according to Appendix 1, wherein:

the obstacle is an installed object installed in the aisle to be used by a person; and
the predetermined distance is a distance for the person to use the installed object.

The autonomous mobile method according to Appendix 2, wherein the installed object includes at least one of a handrail, a bench, and a bulletin board.

The autonomous mobile method according to Appendix 2 or 3, wherein when detecting the person who uses the installed object, a speed of autonomous movement is changed.

The autonomous mobile method according to any one of Appendices2to4, wherein when a predetermined moving body approaches and the person who uses the installed object is not detected, traveling is performed with a smaller distance from the installed object than the predetermined distance.

An autonomous mobile program for an autonomous mobile device that autonomously moves in a facility provided with an aisle, the autonomous mobile program causing a computer to execute:

determination of a kind of an obstacle when the autonomous mobile device detects the obstacle in the aisle where the autonomous mobile device travels;
preparation of a predetermined distance set according to the kind of the obstacle; and
traveling with the predetermined distance from the obstacle.

The autonomous mobile program according to Appendix 6, wherein:

the obstacle is an installed object installed in the aisle to be used by a person; and
the predetermined distance is a distance for the person to use the installed object.

The autonomous mobile program according to Appendix 7, wherein the installed object includes at least one of a handrail, a bench, and a bulletin board.

The autonomous mobile program according to Appendix 7 or 8, causing the computer to execute change in a speed of autonomous movement when the person who uses the installed object is detected.

The autonomous mobile program according to any one of Appendices7to9, causing the computer to execute traveling with a smaller distance from the installed object than the predetermined distance when a predetermined moving body approaches and the person who uses the installed object is not detected.