JP2011204145A - Moving device, moving method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the action of a robot be recognized at a signal corresponding to the state of an object present on the periphery.SOLUTION: The moving device 100 includes a direction indication unit 106 for indicating a moving direction, a recognition unit 102 for recognizing the state of an object present on the periphery, and a control unit 104 for controlling the direction indicated by the direction indication unit 106 corresponding to the state of the object recognized by the recognition unit 102. The recognition unit 102 recognizes a distance between the object and the moving device 100 or the moving speed of the object, and as the distance between the object and the moving device 100 recognized by the recognition unit 102 is shorter, the control unit 104 controls the direction indication unit 106 so as to indicate a more detailed moving route of the moving device 100.

Description

  The present invention relates to a moving device, a moving method, and a program.

  In recent years, robots have been developed that perform work on behalf of humans or assist human work using electrical or magnetic action. In particular, a robot that operates to assist human work needs to move or operate in consideration of contact with humans in order to ensure safety. Therefore, a signal that can be recognized from the robot visually or auditorily is issued to inform the surrounding humans of the moving direction of the robot.

  However, if the meaning of the signal issued by the robot is not recognized by the surrounding people, it is impossible to take a safe action avoiding a collision with the robot by predicting or estimating the action of the robot. In view of this, a moving device has been developed that allows a human to recognize a change in the behavior of the robot more clearly, thereby avoiding contact with the human and moving (see, for example, Patent Document 1).

JP 2008-254134 A

However, in Patent Document 1, since the behavior of the robot is recognized with similar cues by elderly people, children, adults, and the like, the robot behavior is predicted and estimated differently depending on the person, thus ensuring safety. There was a problem that there was a case where action could not be taken. For example, elderly people tend to move slowly or are difficult to make instantaneous judgments, and children often take unexpected actions, so robots with cues that respond to the behavior of each person It was necessary to make people recognize the behavior.
Therefore, the present invention has been made in view of the above problems, and the object of the present invention is to make it possible to recognize the action of the robot by a cue according to the state of the object existing in the vicinity. It is an object to provide a new and improved moving apparatus, moving method and program.

  In order to solve the above-described problem, according to an aspect of the present invention, a direction instruction unit that indicates a moving direction, a recognition unit that recognizes a state of an object existing in the vicinity, and the target recognized by the recognition unit A moving device is provided that includes a control unit that controls the direction indicated by the direction indicating unit according to the state of an object.

  In addition, a speed adjusting unit that adjusts the moving speed is provided, and the control unit controls the moving speed of the moving device adjusted by the speed adjusting unit according to the state of the object recognized by the recognizing unit. May be.

  The recognition unit may recognize a distance between the object and the moving device or a moving speed of the object.

  In addition, as the distance between the object recognized by the recognition unit and the moving device is shorter, the control unit may control the direction indicating unit so as to indicate a more detailed moving path of the moving device. Good.

  Further, the longer the distance between the object recognized by the recognition unit and the moving device, the more the control unit controls the direction indicating unit so as to indicate a rough movement path of the moving device. Good.

  Further, when the recognition unit recognizes that the moving speed of the object is faster than a predetermined speed, the control unit may control the speed adjusting unit to limit the moving speed of the moving device. Good.

  Further, when the moving device is a robot having a face shape and a torso shape, the direction indicating unit may indicate a moving direction according to the face direction.

  Further, the direction instructing unit may turn the face in the moving direction before the moving device moves in the traveling direction according to the control by the control unit.

  In addition, when the control unit is instructed to indicate the detailed moving path, the direction instructing unit may direct the face in a moving direction within a predetermined range on the moving path of the moving device. Good.

  In addition, when the control unit instructs the direction indicating unit to indicate the rough moving path, the direction instructing unit may direct the face in a moving direction outside a predetermined range on the moving path of the moving device. Good.

  In addition, when the direction instruction unit instructs a movement direction based on a projection image from the projector, the direction instruction unit emits a projection image indicating the movement direction from the projector according to control by the control unit. Also good.

  The control unit may change the projection image irradiated by the projector according to the state of the object recognized by the recognition unit.

  The direction instruction unit emits a projection image indicating a movement path of the moving device from the projector when the control unit is instructed to indicate the detailed movement path, and the control unit moves the rough movement. When instructed to indicate a route, a projection image of an arrow indicating the moving direction of the moving device may be emitted from the projector.

  In order to solve the above problem, according to another aspect of the present invention, an object existing around a moving device is recognized, and a distance from the moving device or a moving speed of the object is recognized. The shorter the distance between the step and the recognized object and the moving device, and the faster the moving speed of the object is higher than a predetermined speed, the moving direction indicating unit indicating the moving direction of the moving device, Showing a more detailed movement path of the mobile device, and controlling to limit the moving speed of the mobile device.

  In order to solve the above problems, according to another aspect of the present invention, a computer includes a direction indicating unit that indicates a moving direction, a recognizing unit that recognizes a state of an object existing in the vicinity, and the recognizing unit. And a control unit that controls the direction indicated by the direction indicating unit according to the state of the object recognized by the computer, a program that functions as a moving device is provided.

  As described above, according to the present invention, the behavior of the robot can be recognized with a cue corresponding to the state of an object existing in the vicinity.

It is explanatory drawing explaining the external appearance of the moving apparatus concerning this embodiment of this invention. It is a block diagram which shows the hardware constitutions of the computer with which the mobile device concerning the embodiment was equipped. It is a block diagram which shows the function structure of the control part of the moving apparatus concerning the embodiment. It is explanatory drawing explaining the movement direction instruction | indication method concerning the embodiment. It is explanatory drawing explaining the movement direction instruction | indication method concerning the embodiment. It is explanatory drawing explaining the movement direction instruction | indication method concerning the embodiment. It is explanatory drawing explaining the outline | summary of operation | movement of the moving apparatus concerning the embodiment. It is explanatory drawing explaining the outline | summary of operation | movement of the moving apparatus concerning the embodiment. It is a flowchart which shows the detail of operation | movement of the moving apparatus concerning the embodiment. It is a flowchart which shows the detail of operation | movement of the moving apparatus concerning the embodiment. It is a flowchart which shows the detail of operation | movement of the moving apparatus concerning the embodiment.

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

Further, the “detailed description of the embodiments” will be described in the order shown below.
1. 1. Purpose of the present embodiment 2. Hardware configuration of mobile device 3. Functional configuration of mobile device Details of mobile device operation

<1. Purpose of this embodiment>
First, the purpose of this embodiment will be described. In recent years, robots have been developed that perform work on behalf of humans or assist human work using electrical or magnetic action. In particular, a robot that operates to assist human work needs to move or operate in consideration of contact with humans in order to ensure safety. Therefore, a signal that can be recognized from the robot visually or auditorily is issued to inform the surrounding humans of the moving direction of the robot.

  However, if the meaning of the signal issued by the robot is not recognized by the surrounding people, it is impossible to take a safe action avoiding a collision with the robot by predicting or estimating the action of the robot. In view of this, a moving device has been developed that allows a human to recognize a change in the behavior of the robot more clearly, thereby avoiding contact with the human and moving (see, for example, Patent Document 1).

  However, in Patent Document 1, since the behavior of the robot is recognized with similar cues by elderly people, children, adults, and the like, the robot behavior is predicted and estimated differently depending on the person, thus ensuring safety. There was a problem that there was a case where action could not be taken. For example, elderly people tend to move slowly or are difficult to make instantaneous judgments, and children often take unexpected actions, so robots with cues that respond to the behavior of each person It was necessary to make people recognize the behavior.

  Accordingly, the mobile device 100 according to the present embodiment has been created with the above circumstances as a focus. According to the moving device 100, it is possible to recognize the action of a robot (hereinafter referred to as a moving body) by a cue corresponding to the state of an object existing in the vicinity.

<2. Hardware configuration of mobile device>
Next, a hardware configuration of the mobile device 100 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is an explanatory diagram for explaining the appearance of the moving device 100. As illustrated in FIG. 1, the moving device 100 includes a main body (torso) 50, a head 51, and the like. Below the main body 50, a plurality of rotatable wheels are provided so that the moving device 100 can move. The main body 50 can move autonomously by operating wheels and change the moving speed under the control of a computer provided in the moving device 100.

  Moreover, the head 51 is provided in the upper part of the main body 50, and has the shape which can recognize the front direction of a face. For example, a face or eyes may be drawn in the front direction of the face of the head 51, or the front direction of the face may protrude. In the present embodiment, the front direction of the face will be referred to as “face orientation”. The head 51 is provided so as to be capable of rotating 360 degrees, and can be rotated independently by a force transmitted from an actuator (not shown) under the control of a computer.

  Further, an imaging device (CCD camera or the like) may be mounted on the head 51 of the moving device 100, or the imaging device may be mounted on the main body 50 of the moving device 100. Further, the moving device 100 may be equipped with a gyro sensor that outputs a signal corresponding to the acceleration of the main body 50, or a motion sensor that detects the rotation angle or inclination of the head 51.

  Next, a hardware device of a computer provided in the mobile device 100 will be described with reference to FIG. FIG. 2 is a block diagram illustrating a hardware configuration of a computer provided in the mobile device 100. As illustrated in FIG. 2, the mobile device 100 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, a host bus 14, a bridge 15, and an external device. A bus 16, an interface 17, an input device 18, an output device 19, a storage device (HDD) 20, a drive 21, a connection port 22, and a communication device 23 are provided.

  The CPU 11 functions as an arithmetic processing device and a moving device, and controls the overall operation in the moving device 100 according to various programs. The CPU 11 may be a microprocessor. The ROM 12 stores a program used by the CPU 11, calculation parameters, and the like. The RAM 13 primarily stores programs used in the execution of the CPU 11, parameters that change as appropriate during the execution, and the like. These are connected to each other by a host bus 14 constituted by a CPU bus or the like.

  The host bus 14 is connected to an external bus 16 such as a PCI (Peripheral Component Interconnect / Interface) bus via a bridge 15. Note that the host bus 14, the bridge 15, and the external bus 16 are not necessarily configured separately, and these functions may be mounted on one bus.

  The input device 18 is, for example, an input means for a user to input information, such as a mouse, keyboard, touch panel, button, microphone, switch, and lever, and an input that generates an input signal based on the input by the user and outputs it to the CPU 11. It consists of a control circuit. The user of the mobile device 100 can input various data and instruct processing operations to the mobile device 100 by operating the input device 18.

  The output device 19 includes, for example, a display device such as a CRT (Cathode Ray Tube) display device, a liquid crystal display (LCD) device, an OLED (Organic Light Emitting Display) device and a lamp, and an audio output device such as a speaker and headphones. The The output device 19 outputs the reproduced content, for example. Specifically, the display device displays various information such as reproduced video data as text or images. On the other hand, the audio output device converts reproduced audio data or the like into audio and outputs it.

  The storage device 20 is a data storage device configured as an example of a storage unit of the mobile device 100 according to the present embodiment, and is a storage medium, a recording device that records data on the storage medium, and a read that reads data from the storage medium A deletion device for deleting data recorded on the device and the storage medium can be included. The storage device 20 is composed of, for example, an HDD (Hard Disk Drive). The storage device 20 drives a hard disk and stores programs executed by the CPU 201 and various data.

  The drive 21 is a storage medium reader / writer, and is built in or externally attached to the moving apparatus 100. The drive 21 reads information recorded on a mounted removable storage medium such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, and outputs the information to the RAM 13.

  The connection port 22 is an interface connected to an external device, and is a connection port with an external device capable of transmitting data by, for example, USB (Universal Serial Bus).

  The communication device 23 is a communication interface configured by a communication device or the like for connecting to the communication network 5, for example. The communication device 23 may be a wireless LAN (Local Area Network) compatible communication device, a wireless USB compatible communication device, or a wire communication device that performs wired communication. The hardware configuration of the computer provided in the mobile device 100 has been described above.

<3. Functional configuration of mobile device>
Next, the functional configuration of the control unit (CPU 11) of the mobile device 100 will be described with reference to FIG. FIG. 3 is a block diagram illustrating a functional configuration of the control unit of the mobile device 100. In describing the functional configuration of the control unit of the mobile device 100, FIGS. 4 to 8 will be referred to as appropriate. As illustrated in FIG. 3, the moving device 100 includes a recognition unit 102, a control unit 104, a direction instruction unit 106, a speed adjustment unit 108, and the like.

  The recognition unit 102 has a function of recognizing the state of an object existing around the mobile device 100. The objects present in the vicinity are, for example, a person or an object. Examples of the state of the object include a relative distance between the object and the moving device 100, a moving speed of the object, and a moving direction of the object. The recognition unit 102 may recognize an object using an infrared ray or an ultrasonic camera sensor, and may recognize a positional relationship, a relative distance, a moving speed, a moving direction, and the like between the object and the moving device 100. .

  For example, when a pair of CCD cameras that acquire peripheral images are mounted on the moving device 100, the recognition unit 102 recognizes an object existing in the vicinity by performing image processing on the images acquired by the CCD camera. . The recognizing unit 102 extracts and recognizes a person or object in the vicinity from the image acquired by the CCD by edge extraction or pattern recognition processing. Further, based on the difference between the positions of the objects in the left and right CCD cameras, the distance to the object and the lateral displacement may be obtained by a triangulation method, and the relative speed may be obtained from the change amount with respect to the distance obtained in the previous frame. .

  In addition, if the object is a person, the state of the object is the age of the person, whether the person has baggage, the person is wearing a cane, is in a wheelchair, is pushing a stroller, etc. A state can be illustrated. For example, a person's face may be imaged by an imaging device (not shown) such as a CCD camera provided in the moving apparatus 100, and the person's age may be recognized by face recognition. Also, the facial feature information of a specific person is stored in advance, and the person's facial feature information is compared with the facial feature information captured by the imaging device to identify which person May be. Further, it may be estimated from the moving speed of the person whether the person corresponds to “old man”, “adult”, or “child”. Further, by detecting the height and size of the object, it may be detected whether a person is standing or sitting, moving in a wheelchair, or the like.

  The recognition unit 102 provides the recognition result to the control unit 104. The control unit 104 provided with the recognition result by the recognition unit 102 has a function of controlling the direction indicated by the direction instruction unit 106 according to the recognized state of the object. In addition, the control unit 104 controls the moving speed of the moving device 100 adjusted by the speed adjusting unit 108 according to the recognized state of the object.

  For example, as the distance between the object and the moving device 100 is shorter than the recognition unit 102, the control unit 104 controls the direction instruction unit 106 so as to indicate a more detailed moving route of the moving device 100. For example, when the moving device 100 and the object are located at a short distance of about 1 meter to 3 meters, the moving direction of the moving device 100 from 1 meter to 3 meters ahead is indicated.

  Thereby, since the detailed destination of the moving apparatus 100 can be shown when the distance with the moving apparatus 100 is short, it becomes possible for a target object to perform danger avoidance behavior correctly. In addition, the control unit 104 may limit the moving speed of the moving device 100 when the distance between the moving device 100 and the object is short. Thus, even when the target object is an elderly person who is difficult to change the action plan suddenly, the speed of the mobile device 100 is reduced, and further detailed information is provided to provide information with less error. Therefore, it is possible to avoid the moving apparatus 100 with a margin for an object such as a person. In addition, the control unit 104 can make the moving device 100 easier to avoid by increasing the movement of the direction instruction by the direction instruction unit 106.

  Further, as the distance between the object and the moving device 100 is longer than that of the recognizing unit 102, the control unit 104 controls the direction indicating unit 106 so as to indicate a rough movement path of the moving device 100. For example, when the moving device 100 and the object are separated by 10 meters or more, the direction of the far (destination) is shown instead of the direction of 1 meter or 3 meters away.

  Thereby, when the distance between the mobile device 100 and the object is long, the rough destination of the mobile device 100 is shown, and the target object such as a person who may pass the mobile device 100 has a margin. 100 can be avoided. In addition, even when the distance between the moving device 100 and the object is long, when the moving speed of the object is fast, a detailed moving path may be shown.

  The direction instruction unit 106 has a function of indicating the moving direction of the moving device 100. The direction instructing unit 106 indicates the moving direction by, for example, the direction of the face of the head 51 of the moving device 100. When the direction indicating unit 106 indicates the moving direction based on the orientation of the face, the direction indicating unit 106 turns the front of the face in the traveling direction according to the control by the control unit 104. Thereby, the object can visually recognize the moving direction of the moving device 100.

  In addition, the direction instruction unit 106 turns the face in the traveling direction before the moving device 100 moves in the traveling direction. Accordingly, the object can easily recognize the direction in which the moving device 100 travels before the moving device 100 moves in the traveling direction, and thus the moving device 100 can be safely avoided.

  In the above, the case where the moving direction is indicated by the orientation of the face of the head 51 of the moving device 100 as shown in FIG. 1 has been described, but the present invention is not limited to such an example. For example, the moving direction is determined by a projection image from a projector. It may be instructed, or the moving direction may be instructed by an LED lamp or display on the display. Here, with reference to FIGS. 4-6, the movement direction instruction | indication method other than the movement direction instruction | indication by face direction is demonstrated.

  FIG. 4 is an explanatory diagram for explaining a case in which a moving direction is designated by a projection image from a projector. As shown in FIG. 4, a projector is mounted on the moving apparatus 100, and a projection image is emitted from the projector. The projection image includes, for example, a movement path of the mobile device 100 and an area occupied when the mobile device 100 moves. For example, when the distance between the moving device 100 and the object is short, a detailed moving path may be irradiated. Further, when the distance between the moving device 100 and the object is long, a rough movement route may be irradiated or the direction of the destination may be irradiated.

  For example, when the imaging device is provided in the head 51 of the moving device 100 and the front of the face needs to be directed in a direction other than the moving direction, the destination of the moving device 100 may be indicated by projection by a projector. Good. Further, the projection content by the projector may be changed according to the state of the object recognized by the recognition unit 102. For example, when the recognition unit 102 recognizes that the object is an elderly person, the character size projected by the projector may be increased or may be projected for a longer time than usual. If the recognition unit 102 recognizes that the object is a child, the characters projected by the projector may be hiragana characters. Further, the projection position by the projector may be changed according to the recognized height and moving speed of the person. For example, an arrow or the like is projected at a position that is easy to see according to the height of the person.

  Further, as shown in FIG. 5, a plurality of LED lamps 70 may be mounted on the main body of the moving device 100, and the destination of the moving device 100 may be indicated by turning on the LED lamps in the traveling direction. For example, the destination of the moving apparatus 100 may be more clearly recognized by using an animation in which light gathers on the LED lamp 71 in the traveling direction. Even when the destination is indicated by using the LED lamp 70, the display method may be changed according to the state of the object recognized by the recognition unit 102. For example, the animation speed may be changed according to the age of the person.

  In addition, as shown in FIG. 6, a display may be mounted on the main body of the moving device 100 and the destination of the moving device 100 may be indicated by displaying the direction such as an arrow. Even when the destination is indicated using the display, the display method may be changed according to the state of the object recognized by the recognition unit 102. For example, the display size of an arrow or the like may be changed according to the age of the person, or a more detailed destination may be displayed. Further, a plurality of LED lamps shown in FIG. 5 and the display shown in FIG. 6 may be mounted to turn on the LED lamp and display an arrow simultaneously. This makes it possible to recognize the destination of the mobile device 100 more clearly.

  Next, with reference to FIG. 7 and FIG. 8, the outline | summary of operation | movement of the moving apparatus 100 according to the distance and speed with a target object is demonstrated. 7 and 8 are explanatory diagrams for explaining the outline of the operation of the mobile device 100. FIG. As shown in FIG. 7, it is assumed that the distance between the moving device 100 and the object 80 is, for example, 10 meters or more. It is assumed that the moving device 100 moves to the destination 55 along the moving route 53.

  When the distance between the moving device 100 and the object 80 is large, the object such as a person can easily predict the movement of the moving device 100 by indicating a rough moving path. Therefore, the direction of the face of the head 51 of the moving apparatus 100 is not the direction of the moving path 53 but the direction of the destination 54, that is, the direction along the straight line connecting the destination and the moving apparatus 100. .

  Further, as shown in FIG. 8, when the distance between the moving device 100 and the object 80 is short, the object such as a person can easily predict the movement of the moving device 100 by showing a detailed moving path. Become. Therefore, the direction of the face of the head 51 of the moving device 100 is directed not to the destination direction 54 but to the direction 56 of the planned passing position about 3 meters ahead.

  In this way, depending on the distance between the moving device 100 and the object 80, it is controlled whether the face is directed in the direction of the final destination or the face is directed slightly ahead. . Furthermore, the moving speed of the moving device 100 may be controlled according to the distance between the moving device 100 and the object 80. That is, when the distance between the moving device 100 and the object 80 is short, the moving speed is slowed while facing the face in the direction of the expected passage position a little ahead. As a result, the object 80 can easily predict the movement of the moving device 100 and avoid the moving device 100 with a margin.

  Returning to FIG. 3, the description of the functional configuration of the control unit of the mobile device 100 will be continued. The speed adjusting unit 108 has a function of adjusting the moving speed of the moving device 100. The speed adjustment unit 108 decelerates the movement speed of the moving device 100 or stops the movement under the control of the control unit 104. As described above, the control unit 104 controls the movement of the moving device 100 according to the distance to the object recognized by the recognition unit 102 and the moving speed of the object.

  For example, when the recognition unit 102 recognizes that the moving speed of the object is faster than a predetermined speed, the moving speed is decreased. An example of the predetermined speed is 1 m / s. Also, when the angular velocity of the object is recognized and the angular velocity is recognized to be faster than a predetermined velocity, the angular velocity is decreased. An example of the predetermined angular velocity is 1 rad / s.

<4. Details of operation of mobile device>
The functional configuration of the mobile device 100 will be described above. Next, the details of the operation of the moving apparatus 100 will be described with reference to FIGS. 9 to 11 are flowcharts showing details of the operation of the mobile device 100. As shown in FIG. 9, first, the destination of the mobile device 100 is set (S102).

  Then, it is determined whether or not the distance between the mobile device 100 and the destination is 3 meters or more (S104). In step S104, when the distance between the mobile device 100 and the destination is 3 meters or more, process A is executed (S106). If the distance between the mobile device 100 and the destination is less than 3 meters in step S104, process B is executed (S108). Here, after describing the process A with reference to FIG. 10, the process B will be described with reference to FIG. 11. FIG. 10 is a flowchart for explaining the process A, and FIG. 11 is a flowchart for explaining the process B.

  As shown in FIG. 10, first, the recognition unit 102 searches the periphery and recognizes an avoidance target (S202). In step S202, the outer shape, face, body shape, posture, etc. to be avoided are recognized. In step S202, feature information for identifying the outer shape, face, system, posture, etc. of the target object to be avoided is registered in advance, and the registered feature information matches the feature information of the recognized target object. It may be determined whether or not.

  Then, it is determined whether there is an avoidance target (S204). In the following description, an object that needs to be avoided is referred to as an avoidance object. If it is determined in step S204 that there is no avoidance target, the process of step S220 is executed. If it is determined in step S204 that there is an avoidance target, it is determined whether the distance from the avoidance target is 10 meters or more (S206).

  In step S206, when the distance to the avoidance target is 10 meters or more, the process of step S220 is executed. In step S206, if the distance to the avoidance target is less than 10 meters, it is determined whether the avoidance target is an unrecognizable object or a moving object (S208). An unrecognizable object is an object in which the shape or face of a recognized object does not match the pre-registered feature information and cannot be recognized as any object or person.

  If it is determined in step S208 that the avoidance target is an unrecognizable object or a moving object, process B is executed (S108). If the avoidance target is a recognizable object and not a moving object in step S208, it is determined whether the avoidance target includes a wheelchair or a stroller (S210). If it is determined in step S210 that the avoidance target includes a wheelchair or a stroller, process B is executed (S108). The process B will be described in detail later.

  If it is determined in step S210 that the avoidance target does not include a wheelchair or a stroller, it is determined whether or not the avoidance target includes a cane or baggage (S212). If it is determined in step S212 that the evasion target includes a wand or baggage, process B is executed (S108). The process B will be described in detail later.

  If it is determined in step S212 that the evasion target does not include a wand or baggage, it is determined whether the movement speed of the evasion target is 1 m / s or higher or the angular velocity is 1 rad / s or higher (S214). If it is determined in step S214 that the moving speed to be avoided is 1 m / s or higher or the angular speed is 1 rad / s or higher, process B is executed (S108). The process B will be described in detail later.

  In step S214, when it is determined that the moving speed of the avoidance target is 1 m / s or higher or the angular velocity is not 1 rad / s or higher, it is determined whether the estimated age of the avoidance target is 65 years old or older (S216). . In step S216, when it is determined that the estimated age of the avoidance target is 65 years old or older or 5 years old or less, process B is executed (S108). The process B will be described in detail later.

  When it is determined in step S216 that the estimated age of the avoidance target is not 65 years old or less or 5 years old or less, it is determined whether the distance to the avoidance target is 3 m or less (S218). If it is determined in step S218 that the distance to the avoidance target is 3 m or less, process B is executed (S108). The process B will be described in detail later.

  If it is determined in step S218 that the distance to the avoidance target is not 3 m or less, a direction indicator (for example, the orientation of the head face) is set to the direction of the destination (S220). In step S220, as shown in FIG. 7, when the distance between the moving device 100 and the object 80 is long, the face direction is set in the direction of the destination, not the moving path 53 of the moving device 100. Is the case. Then, the speed limit is released (S222).

  Steps S220 and S222 are executed when there is no avoidance target in step S204 or when the distance from the avoidance target is 10 m or more in step S206. When the distance to the avoidance target is 10 m or more, the direction of the face is set to the direction of the destination, and the rough destination of the moving apparatus 100 is indicated. Accordingly, a person or the like who may pass the moving device 100 can grasp the rough moving direction of the moving device 100 and avoid the moving device 100 with a margin.

  Next, the process B will be described with reference to FIG. As shown in FIG. 11, a direction indicator such as the head face direction is set to a direction 3 m ahead on the movement path (S302). Then, the moving speed of the moving device 100 is set to 0.5 m / s or less, or the angular speed is limited to 0.5 rad / s or less (S304).

  Step S302 is a case where the face direction is set in a direction 3 m ahead of the movement path 53 of the moving device 100 when the distance between the moving device 100 and the object 80 is short as shown in FIG. Further, as shown in steps S208 to S218, the target object is a wheelchair or a stroller, the target object has a cane or baggage, the target moving speed is high, or the person to be avoided is aged. When the person is a person or a child, the process B is executed.

  If the person to be avoided is an elderly person or a child by the processing in step S302 and step S304, the moving speed is slowed while the face of the moving apparatus 100 is directed slightly toward the expected passing position. be able to. Thereby, even an elderly person or a child can easily predict the movement of the moving device 100 and avoid the moving device 100 with a margin. The operation of the mobile device 100 has been described above.

  As described above, according to the present embodiment, risk avoidance for the object is controlled by controlling the direction indicated by the direction indicating unit such as the face direction according to the state of the object recognized by the recognition unit 102. It is possible to encourage action. For example, when the object is an elderly person, by limiting the moving speed or clarifying the moving direction, it is possible to recognize the action of the moving device 100 and perform an action with a margin. It becomes possible.

  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

  For example, each step in the processing of the mobile device 100 of the present specification does not necessarily have to be processed in time series in the order described as a flowchart. That is, each step in the process of the mobile device 100 may be a different process or may be executed in parallel.

  In addition, it is possible to create a computer program for causing hardware such as a CPU, ROM, and RAM incorporated in the mobile device 100 and the like to perform the same functions as the components of the mobile device 100 described above. A storage medium storing the computer program is also provided.

DESCRIPTION OF SYMBOLS 100 Moving apparatus 102 Recognition part 104 Control part 106 Direction instruction | indication part 108 Speed adjustment part

Claims (15)

A direction indicator showing a moving direction;
A recognition unit for recognizing the state of an object existing in the vicinity;
A control unit for controlling the direction indicated by the direction indicating unit according to the state of the object recognized by the recognition unit;
A mobile device comprising: It has a speed adjustment unit that adjusts the moving speed,
The moving device according to claim 1, wherein the control unit controls a moving speed of the moving device adjusted by the speed adjusting unit according to a state of the object recognized by the recognizing unit.   The moving device according to claim 1, wherein the recognizing unit recognizes a distance between the object and the moving device or a moving speed of the object.   The control unit controls the direction indicating unit to indicate a more detailed movement path of the moving device as the distance between the object recognized by the recognizing unit and the moving device is shorter. The moving device according to 1.   The control unit controls the direction indicating unit so as to indicate a rough movement path of the moving device as the distance between the object recognized by the recognizing unit and the moving device is longer. The moving device according to 1.   The control unit controls the speed adjusting unit so as to limit the moving speed of the moving device when the recognizing unit recognizes that the moving speed of the object is faster than a predetermined speed. The moving device according to 1. When the moving device is a robot having a face shape and a torso shape,
The moving device according to claim 1, wherein the direction instructing unit indicates a moving direction according to a direction of the face.   The moving device according to claim 7, wherein the direction instructing unit directs the face in the moving direction before the moving device moves in the traveling direction in accordance with control by the control unit.   The direction indicating unit directs the face in a moving direction within a predetermined range on a moving path of the moving device when the control unit is instructed to indicate the detailed moving path. The moving device according to 1.   The direction indicating unit directs the direction of the face in a moving direction outside a predetermined range on a moving path of the moving device when instructed by the control unit to indicate the rough moving path. The moving device according to 1. The direction instructing unit, when instructing the moving direction by the projection image from the projector,
The moving device according to claim 1, wherein the direction instructing unit emits a projection image indicating a moving direction from the projector according to control by the control unit.   The moving device according to claim 11, wherein the control unit changes the projection image irradiated by the projector according to a state of the object recognized by the recognition unit. (Old claim 12 + 13)
The direction indicating unit is
When instructed by the control unit to indicate the detailed moving path, the projector projects a projection image indicating the moving path of the moving device,
The moving device according to claim 11, wherein when the control unit is instructed to indicate the rough moving path, a projection image of an arrow indicating a moving direction of the moving device is emitted from the projector. Recognizing an object existing around a moving device and recognizing a distance to the moving device or a moving speed of the object;
As the distance between the recognized object and the moving device is shorter, and as the moving speed of the object is faster than a predetermined speed, the moving device indicates the moving direction of the moving device by the moving direction indicating unit. Controlling to limit the moving speed of the mobile device,
Including a movement control method. Computer
A direction indicator showing a moving direction;
A recognition unit for recognizing the state of an object existing in the vicinity;
A control unit for controlling the direction indicated by the direction indicating unit according to the state of the object recognized by the recognition unit;
A program that functions as a mobile device.

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