Autonomous moving system, autonomous moving method, and storage medium
An autonomous moving system according to the present disclosure includes a control unit executing control of movement of an autonomous moving body, including collision control, a setting unit setting a predetermined defense space around the autonomous moving body, for executing the collision control, and a classifying unit classifying an obstruction detected by a detecting unit installed in the autonomous moving body, and an obstruction detected by a detecting unit installed in a facility space through which the autonomous moving body moves. The setting unit changes a range of the defense space to a first range based on a result of the classifying unit classifying the obstruction detected by one of the detecting units, and changes the range of the defense space from the first range to a second range based on a result of the classifying unit classifying the obstruction detected by at least another of the detecting units.
1 . An autonomous moving system including an autonomous moving body that moves autonomously, the autonomous moving system comprising:
a CPU
wherein the CPU is configured to execute a first program to control movement of the autonomous moving body, including collision control of at least one of control to avoid a collision of the autonomous moving body and control to mitigate damage upon a collision;
the CPU is configured to execute a second program to set a predetermined defense space around the autonomous moving body, for executing the collision control by the CPU; and
the CPU is configured to execute a third program to classify an obstruction detected by a first detecting unit that is installed in the autonomous moving body and that detects obstructions in a vicinity of the autonomous moving body, and the obstruction is also detected by a second detecting unit, the second detecting unit being installed in a facility space through which the autonomous moving body moves and that detects obstructions in the vicinity of the autonomous moving body, wherein
the second program changes a range of the predetermined defense space to a first range based on a result of the third program classifying the obstruction detected by one of the first detecting unit and the second detecting unit,
the second program changes the range of the predetermined defense space from the first range to a second range based on a result of the third program classifying the obstruction detected by at least another of the first detecting unit and the second detecting unit,
the CPU is configured to execute control of movement of the autonomous moving body including the collision control in at least one of when the obstruction is inside the predetermined defense space and when the obstruction is predicted to enter inside the predetermined defense space, and
when the third program classifies the obstruction as a wheelchair, the second program reduces a width of the predetermined defense space on a wheelchair side, and increases the width of the predetermined defense space on an opposite side from the wheelchair.
2 . The autonomous moving system according to claim 1 , wherein
the movement of the autonomous moving body includes the autonomous moving body starting to move, and
the CPU is configured to stop the autonomous moving body from starting to move, based on the obstruction classified by the the third program.
3 . The autonomous moving system according to claim 1 , wherein the CPU is configured to stop movement of the autonomous moving body when the obstruction is present in the first range and the second range.
4 . The autonomous moving system according to claim 1 , wherein the third program classifies the obstruction detected by the first detecting unit and the second detecting unit, by using an algorithm that is subjected to machine learning using the obstruction as training data.
5 . The autonomous moving system according to claim 1 , wherein, when the third program classifies the obstruction as a wall, the second program excludes a portion of the wall of the predetermined defense space from the predetermined defense space.
6 . The autonomous moving system according to claim 1 , wherein, when the third program classifies the obstruction as the wheelchair in a state of being stopped for a predetermined period of time, the second program excludes a portion of the wheelchair of the predetermined defense space from the predetermined defense space.
7 . The autonomous moving system according to claim 1 , wherein, when the third program classifies the obstruction as the wheelchair that a person is riding, the CPU causes the autonomous moving body to move away from the wheelchair.
8 . The autonomous moving system according to claim 1 , wherein
when the third program classifies the obstruction as a stretcher, the second program enlarges the predetermined defense space, and
when the third program classifies the obstruction as the stretcher, the CPU causes the autonomous moving body to move out of a space through which the stretcher passes, in a direction in which the stretcher advances.
9 . The autonomous moving system according to claim 1 , further comprising: a storage unit storing map information of the facility space through which the autonomous moving body moves, wherein the third program classifies the obstruction that is detected, based on the map information acquired from the storage unit.
10 . The autonomous moving system according to claim 1 , wherein the first detecting unit is configured to detect obstructions in the vicinity of the autonomous moving body in a range that is wider than the predetermined defense space.
11 . The autonomous moving system according to claim 1 , wherein the facility space through which the autonomous moving body moves is inside a hospital, a business office, a factory, a warehouse, or a commercial facility.
12 . The autonomous moving system according to claim 1 , wherein when reducing the width of the predetermined defense space on the wheelchair side, the width is reduced until the wheelchair is no longer in the predetermined defense space.
13 . An autonomous moving method for an autonomous moving body that moves autonomously, the autonomous moving method comprising:
setting a predetermined defense space around the autonomous moving body, for executing collision control of at least one of control to avoid a collision between the autonomous moving body and an obstruction and control to mitigate damage upon a collision;
classifying an obstruction in a vicinity of the autonomous moving body that is detected by a first detecting unit installed in the autonomous moving body, and the obstruction in the vicinity of the autonomous moving body that is detected by a second detecting unit installed in a facility space through which the autonomous moving body moves;
changing a range of the predetermined defense space to a first range based on a result of classification of the obstruction, detected by one of the first detecting unit and the second detecting unit;
changing the range of the predetermined defense space from the first range to a second range based on a result of classifying the obstruction detected by at least another of the first detecting unit and the second detecting unit; and
executing control of movement of the autonomous moving body including the collision control in at least one of when the obstruction is inside the predetermined defense space and when the obstruction is predicted to enter inside the predetermined defense space,
wherein when classifying the obstruction as a wheelchair, a width of the predetermined defense space on a wheelchair side reduces, and increases the width of the predetermined defense space on an opposite side from the wheelchair.
14 . A non-transitory storage medium storing instructions that are executable by one or more processors and that cause the one or more processors to perform functions comprising:
setting a predetermined defense space around an autonomous moving body, for executing collision control of at least one of control to avoid a collision between the autonomous moving body and an obstruction and control to mitigate damage upon a collision;
classifying an obstruction in a vicinity of the autonomous moving body that is detected by a first detecting unit installed in the autonomous moving body, and the obstruction in the vicinity of the autonomous moving body that is detected by a second detecting unit installed in a facility space through which the autonomous moving body moves;
changing a range of the predetermined defense space to a first range based on a result of classification of the obstruction, detected by one of the first detecting unit and the second detecting unit;
changing the range of the predetermined defense space from the first range to a second range based on a result of classifying the obstruction detected by at least another of the first detecting unit and the second detecting unit; and
executing control of movement of the autonomous moving body including the collision control in at least one of when the obstruction is inside the predetermined defense space and when the obstruction is predicted to enter inside the predetermined defense space,
wherein when classifying the obstruction as a wheelchair, a width of the predetermined defense space on a wheelchair side reduces, and increases the width of the predetermined defense space on an opposite side from the wheelchair.