JP2017111790A - Movement control method, autonomous mobile robot, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movement control method, an autonomous mobile robot, and a movement control program that allow a person around the autonomous mobile robot to constantly monitor the autonomous mobile robot by moving of the autonomous mobile robot in a region that the person can see and that allow the autonomous mobile robot to move without being seen by a person around the autonomous mobile robot by moving in a region that the person cannot see.SOLUTION: The movement control method for controlling the movement of the autonomous mobile robot includes: a step (S5) of acquiring information on a person around the autonomous mobile robot; a step (S6) of calculating a region where the person can see, based on the information on the person; and a step (S7) of determining a range where the autonomous mobile robot can move, based on the calculated vision range.SELECTED DRAWING: Figure 3

Description

  The present disclosure relates to a movement control method that controls movement of an autonomous mobile robot, an autonomous mobile robot that moves autonomously, and a computer-readable program that controls movement of the autonomous mobile robot.

  In recent years, a small autonomous flying robot that autonomously flies on a predetermined flight route has been developed. This autonomous flight robot includes a plurality of propellers, and can freely fly in the air by controlling the rotation speed of each of the plurality of propellers, and autonomously fly along a predetermined flight route. .

  For example, Patent Document 1 discloses an autonomous flying robot that follows a moving object while keeping a predetermined separation distance and images a moving object with an imaging unit.

Japanese Patent Laid-Open No. 2014-11982

  As described above, the conventional autonomous flying robot described in Patent Document 1 follows and flies with a predetermined distance from a moving object such as a human. On the other hand, the conventional autonomous flying robot described in Patent Document 1 does not consider the view range of a moving object such as a human and moves without bothering the human or moves only within the human view range. It is impossible to impose restrictions on practically necessary movements.

  The present disclosure has been made in order to solve the above-described problem. When the autonomous mobile robot moves within a range in which the peripheral person existing around the autonomous mobile robot can be visually recognized, the peripheral person becomes the autonomous mobile robot. The autonomous mobile robot can move without being seen by the surrounding people by moving outside the range where the surrounding people existing around the autonomous mobile robot can be visually recognized. An object of the present invention is to provide a movable control method, an autonomous mobile robot, and a program.

  A movement control method according to an aspect of the present disclosure is a movement control method for controlling movement of an autonomous mobile robot, acquires information related to a surrounding person existing around the autonomous mobile robot, and relates to the acquired surrounding person Based on the information, a visual range that the surrounding person can visually recognize is calculated, and based on the calculated visual range, a moving range in which the autonomous mobile robot can move is determined.

  These general or specific modes may be realized by a system, a device, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, and the system, method, device, and integrated circuit. The present invention may be realized by any combination of a computer program or a computer-readable recording medium.

  According to the present disclosure, since the movement range in which the autonomous mobile robot can move is determined based on the visual recognition range in which surrounding people existing around the autonomous mobile robot are visible, the surroundings that exist around the autonomous mobile robot The autonomous mobile robot moves within the range where the person can visually recognize, so that the surrounding person can always monitor the autonomous mobile robot, or the surrounding people existing around the autonomous mobile robot are not visible. By moving the autonomous mobile robot, the autonomous mobile robot can be moved without being seen by the surrounding people.

It is a figure which shows the structure of the flight control system in Embodiment 1 of this indication. It is a block diagram which shows the structure of the autonomous flight robot in Embodiment 1 of this indication. 6 is a flowchart for describing a flight control process of the autonomous flight robot according to the first embodiment of the present disclosure. It is a figure which shows an example of the visual recognition range in this Embodiment 1. FIG. It is a schematic diagram for demonstrating the production | generation method of the movement path | route in this Embodiment 1. FIG. It is a schematic diagram for demonstrating the production | generation method of the movement path | route which considered the obstruction in this Embodiment 1. FIG. It is a perspective view which shows an example of the 1st visual recognition range in the modification of this Embodiment 1. FIG. (A) is a side view which shows an example of the 2nd visual recognition range in the modification of this Embodiment 1, (B) is an example of the 2nd visual recognition range in the modification of this Embodiment 1. FIG. FIG. (A) is a side view which shows an example of the 3rd visual recognition range in the modification of this Embodiment 1, (B) is an example of the 3rd visual recognition range in the modification of this Embodiment 1. FIG. FIG. (A) is a side view which shows an example of the 4th visual recognition range in the modification of this Embodiment 1, (B) is an example of the 4th visual recognition range in the modification of this Embodiment 1. FIG. FIG. It is a schematic diagram for demonstrating the production | generation method of the movement path | route in the modification of this Embodiment 1. FIG. It is a block diagram which shows the structure of the autonomous flight robot in Embodiment 2 of this indication. It is a block diagram which shows the structure of the flight control system in Embodiment 3 of this indication.

(Knowledge that became the basis of this disclosure)
As described above, the conventional autonomous flight robot follows and flies with a predetermined separation distance from a moving object such as a human. For this reason, the autonomous flying robot enters the human field of view, which may cause annoyance to the human.

  In addition, the conventional autonomous flying robot does not consider that the autonomous flying robot moves within the human field of view. Therefore, when the autonomous flying robot moves outside the human field of view, the human may not be able to monitor the autonomous flying robot.

  In order to solve such a problem, a movement control method according to an aspect of the present disclosure is a movement control method for controlling movement of an autonomous mobile robot, and includes information on surrounding persons existing around the autonomous mobile robot. Based on the acquired information related to the surrounding person, a viewing range that the surrounding person can visually recognize is calculated, and based on the calculated viewing range, a moving range in which the autonomous mobile robot can move is determined.

  According to this configuration, information related to the surrounding person existing around the autonomous mobile robot is acquired, and based on the acquired information related to the surrounding person, a viewing range in which the surrounding person can visually recognize is calculated, and the calculated viewing range is calculated. Based on the above, a moving range in which the autonomous mobile robot can move is determined.

  Therefore, the moving range in which the autonomous mobile robot can move is determined based on the visible range in which the surrounding people around the autonomous mobile robot can see, so the surrounding people around the autonomous mobile robot can be seen The autonomous mobile robot can always monitor the autonomous mobile robot when the autonomous mobile robot moves within a certain range, or the autonomous mobile robot can move outside the range where the peripheral people existing around the autonomous mobile robot can be seen. Can move the autonomous mobile robot without being seen by the surrounding people.

  Further, in the above movement control method, a movement route along which the autonomous mobile robot moves within the determined movement range may be generated.

  According to this configuration, since the movement path along which the autonomous mobile robot moves within the movement range is generated, the autonomous mobile robot can be moved along the movement path.

  Further, in the above movement control method, identification information for identifying a predetermined person is registered in advance, and based on the registered identification information, the surrounding persons existing around the autonomous mobile robot are And if the surrounding person existing around the autonomous mobile robot is determined to be the predetermined person, the predetermined person existing around the autonomous mobile robot is determined. May be determined as the moving range.

  According to this configuration, identification information for identifying a predetermined person is registered in advance. Based on the registered identification information, it is determined whether or not the surrounding person existing around the autonomous mobile robot is a predetermined person. When it is determined that the surrounding person existing around the autonomous mobile robot is a predetermined person, the viewing range of the predetermined person existing around the autonomous mobile robot is determined as the movement range.

  Therefore, since the moving range is determined within the viewing range of the predetermined person whose identification information is registered in advance, the predetermined person can always monitor the autonomous mobile robot moving within the viewing range.

  In the movement control method, the identification information may be a face image of the predetermined person. According to this configuration, by authenticating the face image of a predetermined person, it is possible to easily determine whether or not the surrounding person existing around the autonomous mobile robot is the predetermined person.

  In the above movement control method, the identification information may be transmitted from a communication device carried by the predetermined person.

  According to this configuration, since the identification information is transmitted from the communication device carried by the predetermined person, it is possible to perform simple authentication processing to determine whether or not the surrounding person existing around the autonomous mobile robot is the predetermined person. Can be determined.

  Further, in the above movement control method, the movement range may be determined outside the visual recognition range of the surrounding person existing around the autonomous mobile robot.

  According to this configuration, the movement range is determined to be outside the visible range of surrounding persons existing around the autonomous mobile robot. Therefore, the autonomous mobile robot can be moved without being seen by the surrounding people by moving the autonomous mobile robot outside the range where the surrounding people existing around the autonomous mobile robot can be visually recognized.

  Further, in the above movement control method, the information related to the surrounding person existing around the autonomous mobile robot includes the position of the surrounding person, the body orientation of the surrounding person, the face orientation of the surrounding person, or the It may include at least one of gaze directions of surrounding persons.

  According to this configuration, the information about the surrounding person existing around the autonomous mobile robot is at least one of the position of the surrounding person, the body direction of the surrounding person, the face direction of the surrounding person, or the direction of the line of sight of the surrounding person. Including one. Therefore, it is possible to calculate a viewing range in which the surrounding person can visually recognize according to at least one of the position of the surrounding person, the body direction of the surrounding person, the face direction of the surrounding person, or the direction of the line of sight of the surrounding person. it can.

  In the movement control method, the viewing range may be at least one of the position of the surrounding person, the body direction of the surrounding person, the face direction of the surrounding person, or the direction of the line of sight of the surrounding person. It may be a region on a two-dimensional plane determined accordingly.

  According to this configuration, the viewing range is determined in accordance with at least one of the position of the surrounding person, the body direction of the surrounding person, the face direction of the surrounding person, or the direction of the line of sight of the surrounding person. Since it is an upper area | region, the processing load for calculating a visual recognition range can be reduced.

  Further, in the above movement control method, the visual recognition range has a cost value that varies depending on information about the surrounding person, and the autonomous mobile robot is a map including a starting point and a destination point of the autonomous mobile robot. The moving range may be generated using an optimization algorithm by superimposing the viewing range.

  According to this configuration, the visual recognition range has a cost value that varies depending on the information about the surrounding person. Then, the viewing range is superimposed on a map including the departure point and the destination point of the autonomous mobile robot, and a movement route is generated using an optimization algorithm.

  Therefore, it is possible to easily generate a travel route using an optimization algorithm based on a map on which a visual range having a cost value having a different value according to information on surrounding persons existing around the autonomous mobile robot is superimposed. it can.

  Further, in the above movement control method, the visual recognition range includes a first area formed on the front side of the surrounding person, a second area formed on the back side of the body of the surrounding person, and the first area. 1 region and a third region formed outside the second region, the viewing range is superimposed on a map including the starting point and the destination point of the autonomous mobile robot, and the starting point and the destination The map is divided into a grid so that the points coincide with the intersections of the sides, and among the sides of the divided grid, a part of the sides is in the first region. A cost value having a value of is given, and a part of the side has a second value smaller than the first value for the side that is not in the first region but in the second region. A cost value is provided, and part of the side is not in the first region and the second region, and A cost value having a third value smaller than the second value is given to the side in the region of 3, and a part of the side is in the first region, in the second region, and A cost value having a fourth value smaller than the third value is assigned to a side that is not present in any of the third regions, and passes through the side of the grid from the starting point to the destination point. Of all the routes, the route with the smallest total cost value and the shortest distance from the starting point to the destination point may be generated as the moving route.

  According to this configuration, the visual recognition range includes the first area formed on the front side of the surrounding person, the second area formed on the back side of the body of the surrounding person, the first area, and the second area. And a third region formed outside the region. The viewing range is superimposed on the map including the starting point and the destination point of the autonomous mobile robot, and the map is divided into a grid so that the starting point and the destination point coincide with the intersection of the sides, and each side of the divided grid is Of these, a cost value having the first value is given to a side whose part is in the first area, and a part of the side is not in the first area but in the second area. A cost value having a second value smaller than the first value is assigned to the side, and a part of the side is not in the first region and the second region but in the third region. On the other hand, a cost value having a third value smaller than the second value is given, and a side of a side is not in any of the first region, the second region, and the third region. On the other hand, a cost value having a fourth value smaller than the third value is given. Of all the routes that pass through the sides of the grid from the departure point to the destination point, the route having the smallest total cost value and the shortest distance from the departure point to the destination point is generated as the movement route.

  Therefore, it is possible to easily generate a movement route using a cost value given according to the distance from a surrounding person existing around the autonomous mobile robot.

  Further, in the above movement control method, the autonomous mobile robot includes an image acquisition unit that acquires an image around the autonomous mobile robot, and information on the surrounding person is acquired from image information acquired by the image acquisition unit. May be.

  According to this configuration, the information related to the surrounding person existing around the autonomous mobile robot is acquired from the image information acquired by the image acquisition unit included in the autonomous mobile robot. Information can be acquired.

  In the movement control method described above, the information related to the surrounding person may be acquired from image information acquired by an image acquisition device installed around the autonomous mobile robot.

  According to this configuration, it is possible to acquire information related to surrounding persons existing around the autonomous mobile robot from the image information acquired by the image acquisition device installed around the autonomous mobile robot.

  In the movement control method described above, the information related to the surrounding person may be a current position of the surrounding person acquired by a position sensor carried by the surrounding person.

  According to this configuration, the current position of the surrounding person acquired from the position sensor carried by the surrounding person present around the autonomous mobile robot can be used as information related to the surrounding person.

  In the above movement control method, the information related to the surrounding person may be a direction in which the surrounding person is facing, which is acquired by a geomagnetic sensor carried by the surrounding person.

  According to this configuration, the direction of the surrounding person acquired from the geomagnetic sensor carried by the surrounding person present around the autonomous mobile robot can be used as information related to the surrounding person.

  Further, in the above movement control method, the information related to the surrounding person is acquired from image information around the other autonomous mobile robot acquired by an image acquisition unit provided in another autonomous mobile robot other than the autonomous mobile robot. May be.

  According to this configuration, information about surrounding persons existing around the autonomous mobile robot is obtained from the image information around the other autonomous mobile robot acquired by the image acquisition unit provided in the other autonomous mobile robot other than the autonomous mobile robot. Can be acquired.

  Further, in the above movement control method, information on an obstacle existing around the autonomous mobile robot is acquired, and the movement range is determined based on the acquired information on the obstacle and the calculated viewing range. May be.

  According to this configuration, information on obstacles existing around the autonomous mobile robot is acquired, and the movement range is determined based on the acquired information on obstacles and the calculated viewing range. The moving range can be determined in consideration of a place where a blind spot is formed by an object.

  Further, in the above movement control method, the autonomous mobile robot is an autonomous flying robot, acquires an altitude at which the autonomous flying robot flies, and the moving range is obtained only when the acquired altitude is lower than a predetermined altitude. May be determined.

  According to this configuration, the autonomous mobile robot is an autonomous flying robot. The moving range is determined only when the altitude at which the autonomous flying robot flies is acquired and the acquired altitude is lower than the predetermined altitude.

  Therefore, the moving range is determined only when the altitude of the autonomous flying robot is lower than the predetermined altitude. When flying at a high altitude that is difficult for a person to visually recognize, it is possible to fly at the shortest distance from the current position to the destination without particularly determining the movement range.

  In the above movement control method, when the movement range is not determined, the current position of the autonomous mobile robot may be notified to a predetermined terminal device.

  According to this configuration, when the movement range is not determined, the current position of the autonomous mobile robot is notified to a predetermined terminal device. Therefore, when the movement range is not determined, it is possible to accept an input on how to move the autonomous mobile robot.

  In the above movement control method, when the distance of the generated movement route is longer than a predetermined distance, the distance of the generated movement route may be notified to a predetermined terminal device.

  According to this configuration, when the distance of the generated travel route is longer than the predetermined distance, the distance of the generated travel route is notified to the predetermined terminal device. Therefore, when the distance of the moving route is longer than the predetermined distance, there is a possibility that the remaining capacity of the battery built in the autonomous mobile robot may be insufficient, but the battery during movement is notified by notifying a predetermined terminal device in advance. Can be prevented from running out of remaining capacity.

  In the above movement control method, at least one of acquisition of information related to the surrounding person, calculation of the viewing range, and determination of the movement range may be performed by a processor.

  According to this configuration, at least one of acquisition of information related to the surrounding person, calculation of the viewing range, and determination of the movement range can be performed by the processor.

  An autonomous mobile robot according to another aspect of the present disclosure is an autonomous mobile robot that autonomously moves, and relates to a person acquisition unit that acquires information about a surrounding person existing around the autonomous mobile robot, and the acquired surrounding person A calculating unit that calculates a visible range that the surrounding person can visually recognize based on the information; and a determining unit that determines a moving range in which the autonomous mobile robot can move based on the calculated visible range.

  According to this configuration, information related to the surrounding person existing around the autonomous mobile robot is acquired, and based on the acquired information related to the surrounding person, a viewing range in which the surrounding person can visually recognize is calculated, and the calculated viewing range is calculated. Based on the above, a moving range in which the autonomous mobile robot can move is determined.

  Therefore, the moving range in which the autonomous mobile robot can move is determined based on the visible range in which the surrounding people around the autonomous mobile robot can see, so the surrounding people around the autonomous mobile robot can be seen The autonomous mobile robot can always monitor the autonomous mobile robot when the autonomous mobile robot moves within a certain range, or the autonomous mobile robot can move outside the range where the peripheral people existing around the autonomous mobile robot can be seen. Can move the autonomous mobile robot without being seen by the surrounding people.

  In the above autonomous mobile robot, at least one of the person acquisition unit, the calculation unit, and the determination unit may include a processor.

  According to this configuration, at least one of acquisition of information related to the surrounding person, calculation of the viewing range, and determination of the movement range can be performed by the processor.

  A program according to another aspect of the present disclosure is a computer-readable program for controlling the movement of an autonomous mobile robot, and the computer acquires an information about a surrounding person existing around the autonomous mobile robot; Based on the acquired information about the surrounding person, a calculation unit that calculates a viewing range that the surrounding person can visually recognize, and based on the calculated viewing range, determines a movement range in which the autonomous mobile robot can move. It functions as a decision unit.

  According to this configuration, information related to the surrounding person existing around the autonomous mobile robot is acquired, and based on the acquired information related to the surrounding person, a viewing range in which the surrounding person can visually recognize is calculated, and the calculated viewing range is calculated. Based on the above, a moving range in which the autonomous mobile robot can move is determined.

  Therefore, the moving range in which the autonomous mobile robot can move is determined based on the visible range in which the surrounding people around the autonomous mobile robot can see, so the surrounding people around the autonomous mobile robot can be seen The autonomous mobile robot can always monitor the autonomous mobile robot when the autonomous mobile robot moves within a certain range, or the autonomous mobile robot can move outside the range where the peripheral people existing around the autonomous mobile robot can be seen. Can move the autonomous mobile robot without being seen by the surrounding people.

  Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the following embodiment is an example in which the present disclosure is embodied, and does not limit the technical scope of the present disclosure.

(Embodiment 1)
FIG. 1 is a diagram illustrating a configuration of a flight control system according to the first embodiment of the present disclosure. The flight control system shown in FIG. 1 includes an autonomous flight robot 10, a monitoring camera 20, and a terminal device 30. The autonomous flying robot 10 is an example of an autonomous mobile robot, and the monitoring camera 20 is an example of an image acquisition device.

  The autonomous flight robot 10 autonomously flies from a predetermined departure point to a destination point. When the departure point and the destination point are input, the autonomous flying robot 10 automatically generates a movement route from the departure point to the destination point. The autonomous flight robot 10 includes a plurality of propellers, and moves in the forward, backward, leftward, rightward, upward, and downward directions by controlling the number of rotations of the plurality of propellers. The autonomous flying robot 10 autonomously flies from the departure point to the destination point while acquiring the current position by GPS (Global Positioning System). The autonomous flying robot 10 is communicably connected to the monitoring camera 20 and the terminal device 30 via the network 40. The network 40 is, for example, the Internet or a mobile phone communication network.

  The monitoring camera 20 captures a person (surrounding person) existing around the autonomous flying robot 10 and transmits the captured image information to the autonomous flying robot 10. The flight control system may include a plurality of monitoring cameras 20 instead of including one monitoring camera 20. Further, the flight control system may not include the monitoring camera 20.

  The terminal device 30 sets the starting point and destination of the autonomous flying robot 10. The terminal device 30 is, for example, a smartphone, a tablet computer, or a personal computer. The terminal device 30 receives an input of the departure point and destination of the autonomous flying robot 10 by the user, and transmits information indicating the accepted departure point and destination to the autonomous flying robot 10. Note that the terminal device 30 may receive an input of the departure time of the autonomous flight robot 10 by the user and transmit information indicating the accepted departure time to the autonomous flight robot 10. Further, the terminal device 30 may transmit environmental information indicating a map around the autonomous flying robot 10 to the autonomous flying robot 10 in response to a request from the autonomous flying robot 10.

  FIG. 2 is a block diagram illustrating a configuration of the autonomous flight robot according to the first embodiment of the present disclosure. 2 includes an actuator 101, a position measurement unit 102, an image acquisition unit 103, a communication unit 104, and a control unit 105.

  The actuator 101 drives a plurality of propellers. The actuator 101 rotates a plurality of propellers that cause the autonomous flight robot 10 to fly.

  The position measurement unit 102 is, for example, a GPS, and acquires position information indicating the current position of the autonomous flying robot 10. The current position is represented by latitude, longitude, and altitude.

  The image acquisition unit 103 is a camera, for example, and is preferably an omnidirectional camera. For example, the image acquisition unit 103 images a person existing around the autonomous flying robot 10 and acquires the captured image information.

  The communication unit 104 receives image information from the monitoring camera 20 via the network 40. The communication unit may be configured using a communication circuit, for example. Further, the communication unit 104 receives information indicating the departure place and the destination from the terminal device 30 via the network 40. In addition, the communication unit 104 transmits the position information acquired by the position measurement unit 102 to the terminal device 30 and receives environment information indicating a map around the autonomous flying robot 10 specified by the position information from the terminal device 30. To do.

  The control unit 105 includes a processor such as a CPU (Central Processing Unit) and controls the operation of the autonomous flying robot 10. The control unit 105 includes a person information acquisition unit 111, a visual range calculation unit 112, a movement range determination unit 113, a movement route generation unit 114, and a movement control unit 115. The autonomous flying robot 10 has a memory (not shown), and a program for causing the memory to function as the control unit 105 may be recorded in the memory. The control unit 105 functions when the CPU executes the program. Alternatively, the control unit 105 may be configured using a dedicated circuit incorporating the function of the control unit 105. The dedicated circuit may be an integrated circuit, for example.

  The person information acquisition unit 111 acquires information about a person existing around the autonomous flying robot 10 based on the image information acquired by the image acquisition unit 103 and / or the image information received by the communication unit 104. The information regarding the person existing around the autonomous flying robot 10 includes at least one of the position of the person, the direction of the person's body, the direction of the face of the person, or the direction of the line of sight of the person. The person information acquisition unit 111 performs image recognition processing on the image information, and at least one of the position of the person, the body direction of the person, the face direction of the person, or the direction of the line of sight of the person included in the image information. To get. The autonomous flying robot 10 and the monitoring camera 20 may include a distance sensor that measures the distance to the person, and the person information acquisition unit 111 exists around the autonomous flying robot 10 based on the measured distance. You may acquire the information regarding the person who does.

  The viewing range calculation unit 112 calculates a viewing range in which a person can view based on the information about the person acquired by the person information acquisition unit 111. The viewing range is a region on a two-dimensional plane that is determined according to at least one of the position of the person, the direction of the person's body, the direction of the person's face, or the direction of the person's line of sight.

  The movement range determination unit 113 determines a movement range in which the autonomous flying robot 10 can move based on the visual recognition range calculated by the visual recognition range calculation unit 112.

  The movement path generation unit 114 generates a movement path along which the autonomous flying robot 10 moves within the movement range determined by the movement range determination unit 113. The movement path generation unit 114 generates a movement path along which the autonomous flying robot 10 moves within the movement range determined by the movement range determination unit 113 using an optimization algorithm such as dynamic programming.

  In addition, the movement route generation unit 114 superimposes a viewing range having a cost value that varies depending on information about the surrounding person on a map including the departure point and the destination point of the autonomous mobile robot 10, and uses an optimization algorithm. A movement route may be generated.

  The movement control unit 115 controls the movement of the autonomous flying robot 10 in accordance with the movement route generated by the movement route generation unit 114.

  Next, the flight control process of the autonomous flight robot 10 according to the first embodiment will be described.

  FIG. 3 is a flowchart for describing the flight control process of the autonomous flight robot according to the first embodiment of the present disclosure.

  First, in step S <b> 1, the communication unit 104 receives information regarding the departure point and the destination point from the terminal device 30 via the network 40. The terminal device 30 receives input of information indicating the departure point and the destination point by the user, and transmits information indicating the received departure point and destination point to the autonomous flying robot 10. Note that the input of the departure point may not be received, and the current position of the autonomous flying robot 10 may be set as the departure point. In addition, the terminal device 30 may receive a departure time from the departure point or an arrival time at the destination point, and may transmit the accepted departure time or arrival time to the autonomous flying robot 10.

  Next, in step S <b> 2, the image acquisition unit 103 acquires image information obtained by photographing a person existing around the autonomous flying robot 10. Note that image information may not be acquired depending on the position where the image acquisition unit 103 is attached or the flight state of the autonomous flight robot 10. That is, when the image acquisition unit 103 is attached to the lower part of the autonomous flight robot 10 and the autonomous flight robot 10 is in a landing state, there is a possibility that image information cannot be acquired.

  Next, in step S <b> 3, the communication unit 104 receives image information from the monitoring camera 20 via the network 40. At this time, the communication unit 104 transmits an image request for requesting image information to at least one monitoring camera 20 existing between the departure point and the destination point. When the monitoring camera 20 receives the image request, the monitoring camera 20 transmits to the autonomous flying robot 10 image information obtained by photographing a person existing around the autonomous flying robot 10. The communication unit 104 receives image information transmitted by the monitoring camera 20.

  The monitoring camera 20 may transmit image information to the autonomous flying robot 10 only when a person is imaged. If the person is not imaged, the monitoring camera 20 may not transmit image information to the autonomous flying robot 10. Good. In addition, the monitoring camera 20 may transmit position information indicating the position of the monitoring camera 20 together with the image information. Furthermore, the surveillance camera 20 does not transmit image information, but performs image recognition processing on the acquired image information, and the position of the person included in the image information, the orientation of the person's body, the orientation of the person's face, Or you may transmit the person information which shows at least 1 of the direction of a person's eyes | visual_axis. Furthermore, when the monitoring camera 20 does not exist around the autonomous flying robot 10, there is a possibility that image information cannot be acquired from the monitoring camera 20.

  Next, in step S <b> 4, the communication unit 104 receives environment information indicating a map around the autonomous flying robot 10 from the terminal device 30 via the network 40. At this time, the communication unit 104 may transmit the position information acquired by the position measurement unit 102 to the terminal device 30, and the environment information indicating the map around the autonomous flying robot 10 specified by the position information is transmitted to the terminal device. 30 may be received. The communication unit 104 may receive environment information indicating a map including the departure point and the destination point from the terminal device 30. Moreover, in this Embodiment, although the communication part 104 has received environment information from the terminal device 30, this indication is not limited to this in particular, You may receive environment information from the server which provides a map. Further, the information regarding the environment around the autonomous flying robot 10 may be image information acquired by the image acquisition unit 103 and / or image information received by the communication unit 104.

  Next, in step S <b> 5, the person information acquisition unit 111 is based on the image information acquired by the image acquisition unit 103 and / or the image information received by the communication unit 104, and the person existing around the autonomous flying robot 10. Get information about. At this time, the person information acquisition unit 111 performs image recognition processing on the image information, and includes at least one of the position of the person, the direction of the person's body, the direction of the face of the person, or the direction of the line of sight of the person. Get information.

  In addition, although the person information acquisition part 111 acquires the information regarding the person who exists around the autonomous flight robot 10 based on image information, this indication is not specifically limited to this. Information regarding a person existing around the autonomous flying robot 10 may be acquired by a position sensor carried by the person. In this case, the position sensor transmits the current position of the person existing around the autonomous flying robot 10 to the autonomous flying robot 10. For example, a communication device carried by a person may include a position sensor. The position sensor may have a communication function, for example.

  Moreover, the information regarding the person existing around the autonomous flying robot 10 may be acquired by a geomagnetic sensor carried by the person. In this case, the geomagnetic sensor transmits to the autonomous flying robot 10 a direction in which a person existing around the autonomous flying robot 10 is facing. For example, a communication device carried by a person may include a geomagnetic sensor. Further, the geomagnetic sensor may have a communication function, for example. Furthermore, the information regarding the person existing around the autonomous flight robot 10 may be acquired from image information acquired by an image acquisition unit provided in another autonomous flight robot other than the autonomous flight robot 10. That is, when another autonomous flying robot is flying in the vicinity of the autonomous flying robot 10, the autonomous flying robot 10 receives image information obtained by photographing the surroundings of the other autonomous flying robot, and autonomous flying from the received image information. Information regarding persons existing around the robot 10 may be acquired.

  Next, in step S <b> 6, the visual recognition range calculation unit 112 calculates the visual recognition range in which a person can visually recognize based on the information related to the person acquired by the person information acquisition unit 111. Here, the viewing range in the first embodiment will be described.

  FIG. 4 is a diagram illustrating an example of a visible range in the first embodiment. As shown in FIG. 4, the viewing range 100 is formed on the front side of the body of the person 110 and on the back side of the body of the person 110 adjacent to the first area 151. 2nd area | region 152 and 3rd area | region 153 adjacent to 1st area | region 151 and 2nd area | region 152 and formed in the outer side of 1st area | region 151 and 2nd area | region 152 are included. In the example illustrated in FIG. 4, the visual recognition range calculation unit 112 calculates the visual recognition range 100 in which a person can visually recognize based on the orientation of the person's body.

  Note that the visual recognition range calculation unit 112 may calculate the visual recognition range 100 that is visible to a person based on the orientation of the person's face. In this case, the viewing range 100 includes a first area 151 formed on the front side of the face of the person 110 and a second area adjacent to the first area 151 and formed on the back side of the face of the person 110. 152 and a third region 153 which is adjacent to the first region 151 and the second region 152 and is formed outside the first region 151 and the second region 152.

  Moreover, the shape of the visual recognition range 100 is not limited to FIG. For example, when only the current position of a person is acquired, it is not known in which direction the person is facing. Therefore, the viewing range calculation unit 112 may calculate a range within a circle having a predetermined radius around the current position of the person as the viewing range 100.

  The visual range calculation unit 112 calculates the visual range corresponding to all persons existing around the autonomous flying robot 10.

  Returning to FIG. 3, next, in step S <b> 7, the movement range determination unit 113 determines a movement range in which the autonomous flying robot 10 can move based on the visual recognition range calculated by the visual recognition range calculation unit 112. In the first embodiment, the movement range determination unit 113 determines a movement range outside the visual recognition range of a person existing around the autonomous flying robot 10. That is, the movement range determination unit 113 determines a movement range in which the autonomous flying robot 10 can move outside the visual range calculated by the visual range calculation unit 112.

  Next, in step S8, the movement route generation unit 114 generates a movement route along which the autonomous flying robot 10 moves within the movement range determined by the movement range determination unit 113. Here, a method of generating a movement route in the first embodiment will be described.

  FIG. 5 is a schematic diagram for explaining a moving route generation method according to the first embodiment. As illustrated in FIG. 5, the movement route generation unit 114 superimposes the viewing range 100 on a map 210 including the departure point 201 and the destination point 202 of the autonomous flying robot 10, and the departure point and the destination point coincide with the intersection of the sides. Thus, the map 210 is divided into a grid pattern. The movement path generation unit 114 assigns a cost value having a first value to a side where a part of the side of the divided grid is in the first region 151, and a part of the side. Is assigned to a side in the second region 152 but not in the first region 151, and a cost value having a second value smaller than the first value is given, and a part of the side is in the first region 151. A cost value having a third value smaller than the second value is assigned to a side in the third region 153 but not in the inner region or the second region 152, and a part of the side is the first region. 151, a cost value having a fourth value smaller than the third value is assigned to a side that is not in any of the second region 152 and the third region 153. The first value is, for example, “3”, the second value is, for example, “2”, the third value is, for example, “1”, and the fourth value is, for example, “0”. It is.

  The movement route generation unit 114 has the smallest total cost value and the shortest distance from the departure point 201 to the destination point 202 among all the routes passing through the sides of the grid from the departure point 201 to the destination point 202. Is generated as the movement route 204. In FIG. 5, the route having the smallest total cost value “0” is generated as the travel route 204 among all the routes that pass through the sides of the grid from the departure point 201 to the destination point 202.

  Returning to FIG. 3, next, in step S <b> 9, the movement control unit 115 controls the movement of the autonomous flying robot 10 in accordance with the movement path generated by the movement path generation unit 114. That is, the movement control unit 115 starts the flight of the autonomous flying robot 10 toward the destination along the movement route generated by the movement route generation unit 114.

  In the first embodiment, the movement control unit 115 starts the autonomous flying robot 10 when the movement route is generated. However, the present disclosure is not particularly limited thereto, and the departure time is set in advance. If it is, the autonomous flying robot 10 may be departed when the departure time is reached. If the arrival time is set in advance, the movement control unit 115 calculates the movement time based on the movement route and the movement speed, and calculates the departure time by subtracting the movement time from the arrival time. May be.

  Next, in step S10, the movement control unit 115 determines whether or not the autonomous flying robot 10 has arrived at the destination. If it is determined that the autonomous flying robot 10 has arrived at the destination (YES in step S10), the flight control process is terminated. On the other hand, when it is determined that the autonomous flying robot 10 has not arrived at the destination (NO in step S10), the process returns to step S2. The processing of step S2 to step S10 is performed at a predetermined timing, and the time interval from the processing of step S2 to the processing of the next step S2 is shortened so that it does not enter the human field of view. The movement path of the autonomous flying robot 10 can be generated with higher accuracy.

  When an obstacle with a predetermined height exists in the vicinity of the person, the movement route generation unit 114 may generate a movement route in consideration of the obstacle.

  FIG. 6 is a schematic diagram for explaining a method for generating a movement route in consideration of an obstacle according to the first embodiment. The communication unit 104 may acquire information regarding an obstacle existing around the autonomous flying robot 10. Moreover, the movement range determination part 113 may determine a movement range based on the information regarding the acquired obstruction, and the calculated visual recognition range. As shown in FIG. 6, when the obstacle 301 exists diagonally to the left of the person, a region 302 that becomes a blind spot due to the obstacle 301 in the viewing range 100 is determined as a movement range.

  As shown in FIG. 6, when an obstacle 301 exists diagonally to the left of the person, the cost value is reduced for a region 302 that is a blind spot due to the obstacle 301 in the viewing range 100. For example, the movement path generation unit 114 assigns a cost value having a fourth value to each side in the region 302 where a part of the side of the divided lattice becomes a blind spot due to the obstacle 301. To do. The arrangement position of the obstacle 301 can be acquired from the environment information, and can also be acquired from the image information acquired by the image acquisition unit 103 of the autonomous flying robot 10. Also, the blind area 302 may be determined by at least one of the position of the person, the direction of the person's body, the direction of the person's face, or the direction of the line of sight of the person.

  The current position acquired by the position measurement unit 102 may include not only the latitude and longitude at which the autonomous flying robot 10 exists, but also the altitude at which the autonomous flying robot 10 flies. The movement range determination unit 113 may determine the movement range only when the altitude acquired by the position measurement unit 102 is lower than a predetermined altitude. If the altitude acquired by the position measurement unit 102 is equal to or higher than the predetermined altitude, the movement range determination unit 113 does not determine the movement range, and the movement route generation unit 114 sets the current position and the destination at the shortest distance. A route to be connected may be generated as a movement route. The altitude may be measured by an altimeter provided in the autonomous flying robot 10.

  Further, when the movement range is not determined by the movement range determination unit 113, the communication unit 104 may notify the terminal device 30 of the current position of the autonomous flying robot 10. The terminal device 30 is carried by a supervisor who monitors the autonomous flying robot 10, an administrator who manages the autonomous flying robot 10, or an owner who owns the autonomous flying robot 10. For example, when there are a plurality of persons around the autonomous flying robot 10 and there is no region outside the visible range on the map, the moving range determining unit 113 may not be able to determine the moving range. In this case, the communication unit 104 notifies the terminal device 30 of the current position of the autonomous flying robot 10. The terminal device 30 receives a flight control instruction regarding how to fly the autonomous flight robot 10 and transmits the received flight control instruction to the autonomous flight robot 10. The movement control unit 115 causes the autonomous flight robot 10 to fly according to the received flight control instruction.

  Further, when the distance of the travel route generated by the travel route generation unit 114 is longer than a predetermined distance, the communication unit 104 may notify the terminal device 30 of the distance of the generated travel route. The terminal device 30 is carried by a supervisor who monitors the autonomous flying robot 10, an administrator who manages the autonomous flying robot 10, or an owner who owns the autonomous flying robot 10. For example, when a route that passes outside the viewing range is generated, the distance from the departure point to the destination point becomes very long, and there is a possibility that the battery will run out before reaching the destination point. Therefore, when the distance of the travel route generated by the travel route generation unit 114 is longer than a predetermined distance, the communication unit 104 notifies the terminal device 30 of the distance of the generated travel route. The terminal device 30 receives a flight control instruction regarding how to fly the autonomous flight robot 10 and transmits the received flight control instruction to the autonomous flight robot 10. The movement control unit 115 causes the autonomous flight robot 10 to fly according to the received flight control instruction.

  Subsequently, a movement route generation method according to a modification of the first embodiment will be described. In the first embodiment, the viewing range is represented by a two-dimensional plane, and a movement path that moves on the two-dimensional plane is generated. In the modification of the first embodiment, the viewing range is represented by a three-dimensional space. Then, a movement path that moves in the three-dimensional space is generated. The viewing range is changed according to the type of information related to the person existing around the autonomous flying robot 10. That is, the viewing range calculation unit 112 sets the first viewing range defined according to the current position of the person, the second viewing range defined according to the orientation of the person's body, and the orientation of the person's face. A third viewing range defined according to the direction and a fourth viewing range defined according to the direction of the person's line of sight are calculated.

  FIG. 7 is a perspective view showing an example of a first visual range in the modification of the first embodiment. FIG. 8A is a side view showing an example of the second viewing range in the modification of the first embodiment, and FIG. 8B is the second viewing in the modification of the first embodiment. It is a top view which shows an example of a range. FIG. 9A is a side view showing an example of the third viewing range in the modification of the first embodiment, and FIG. 9B is the third viewing in the modification of the first embodiment. It is a top view which shows an example of a range. FIG. 10A is a side view showing an example of the fourth viewing range in the modification of the first embodiment, and FIG. 10B is the fourth viewing in the modification of the first embodiment. It is a top view which shows an example of a range.

  A first viewing range 401 illustrated in FIG. 7 is calculated when the current position of the person 110 is acquired. The first viewing range 401 is represented by a hemispherical shape having a predetermined radius with the current position of the person 110 as the center.

  The second viewing range 402 shown in FIGS. 8A and 8B is calculated when the body orientation of the person 110 is acquired. The second viewing range 402 is a solid in which a notch with a central angle of the bottom surface of 60 degrees is formed on the back side of the body of the person 110 with respect to the hemisphere having a predetermined radius centered on the current position of the person 110. expressed.

  The third viewing range 403 shown in FIGS. 9A and 9B is calculated when the face orientation of the person 110 is acquired. The third viewing range 403 is formed in a direction in which the face of the person 110 faces, and a fan shape having a horizontal center angle of 200 degrees is rotated 50 degrees upward with the position of the face of the person 110 as the center. In addition, it is represented by a solid formed by rotating 75 degrees downward. The third viewing range 403 is adjacent to the left and right sides of the binocular field of view range 4031 formed by rotating a sector having a horizontal center angle of 120 degrees in the vertical direction, and the binocular field of view range 4031. And a peripheral visual field range 4032 formed by rotating a sector having a horizontal center angle of 40 degrees in the vertical direction.

  A fourth visual range 404 shown in FIGS. 10A and 10B is calculated when the direction of the line of sight of the person 110 is acquired. The fourth viewing range 404 is formed in the direction in which the line of sight of the person 110 is facing, and the angle between two horizontal sides having the apex at the position of the eye of the person 110 is 30 degrees. It is represented by a quadrangular pyramid shape in which the angle between two vertical sides with the position of 20 is the vertex.

  FIG. 11 is a schematic diagram for explaining a moving route generation method according to the modification of the first embodiment. As illustrated in FIG. 11, the movement route generation unit 114 divides the three-dimensional space 220 including the departure point 201 and the destination point 202 of the autonomous flying robot 10 into a lattice shape. Thereby, the three-dimensional space 220 is composed of a plurality of cubes. The lengths of the three-dimensional space 220 in the X-axis direction and the Y-axis direction are determined according to the starting point and the destination point, and the length (height) in the Z-axis direction is the altitude at which the autonomous flying robot 10 can fly. May be determined according to In addition, when the travel route cannot be generated, the travel route generation unit 114 may generate the travel route again by setting the three-dimensional space 220 larger.

  The movement path generation unit 114 sets the first viewing range 401 defined according to the current position of the person, the second viewing range 402 defined according to the orientation of the person's body, and the orientation of the person's face. Based on at least one of the third viewing range 403 defined according to the direction and the fourth viewing range 404 defined according to the direction of the line of sight of the person, for each side of the plurality of divided cubes A cost value is assigned.

  That is, when only the current position of the person is acquired, the movement path generation unit 114 superimposes the first viewing range 401 defined according to the current position of the person on the three-dimensional space 220. The movement path generation unit 114 calculates the cost calculated according to the distance from the current position of the person with respect to each side of the plurality of cubes in which a part of the side is in the first viewing range 401 in the three-dimensional space 220. Assign a value. At this time, the cost value is calculated by dividing the predetermined constant α by the distance from the current position of the person. Therefore, the cost value decreases as the distance from the person increases. Further, the movement path generation unit 114 is “0” for each side of a plurality of cubes in the three-dimensional space 220 in which a part of the side is not in the first viewing range 401 in the three-dimensional space 220. A cost value is assigned. The movement route generation unit 114 has the smallest total cost value and the shortest distance from the departure point 201 to the destination point 202 among all the routes passing through the cube side from the departure point 201 to the destination point 202. As a travel route.

  In addition, when the current position of the person and the orientation of the person's body are acquired, the movement path generation unit 114 responds to the first viewing range 401 defined according to the current position of the person and the orientation of the person's body. And the second viewing range 402 defined in the above are superimposed on the three-dimensional space 220. The movement path generation unit 114 calculates the first calculated for each side of the plurality of cubes in which a part of the side is in the first viewing range 401 in the three-dimensional space 220 according to the distance from the current position of the person. A cost value of 1 is assigned, and a part of the side is calculated according to the distance from the current position of the person for each side of the plurality of cubes in the second viewing range 402 in the three-dimensional space 220. A second cost value is assigned. At this time, the first cost value and the second cost value are calculated by dividing the predetermined constant α by the distance from the current position of the person.

  Then, the movement path generation unit 114 applies the first cost to each side of the plurality of cubes in which a part of the side is in the first viewing range 401 and the second viewing range 402 in the three-dimensional space 220. The value and the second cost value multiplied by a predetermined weight value are added. Further, the movement path generation unit 114 is “0” for each side of a plurality of cubes in the three-dimensional space 220 in which a part of the side is not in the first viewing range 401 in the three-dimensional space 220. A cost value is assigned. The movement route generation unit 114 has the smallest total cost value and the shortest distance from the departure point 201 to the destination point 202 among all the routes passing through the cube side from the departure point 201 to the destination point 202. As a travel route.

  When the current position of the person, the direction of the person's body, and the direction of the person's face are acquired, the movement path generation unit 114 includes the first viewing range 401 defined according to the current position of the person, A second viewing range 402 that is defined according to the orientation of the human body and a third viewing range 403 that is defined according to the orientation of the person's face are superimposed on the three-dimensional space 220. The movement path generation unit 114 calculates the first calculated for each side of the plurality of cubes in which a part of the side is in the first viewing range 401 in the three-dimensional space 220 according to the distance from the current position of the person. A cost value of 1 is assigned, and a part of the side is calculated according to the distance from the current position of the person for each side of the plurality of cubes in the second viewing range 402 in the three-dimensional space 220. According to the distance from the position of the person's face with respect to each side of the plurality of cubes where a second cost value is assigned and a part of the side is within the third viewing range 403 in the three-dimensional space 220 The calculated third cost value is assigned. At this time, the first cost value, the second cost value, and the third cost value are calculated by dividing the predetermined constant α by the distance from the current position of the person.

  Then, the movement path generation unit 114 applies the first cost to each side of the plurality of cubes in which a part of the side is in the first viewing range 401 and the second viewing range 402 in the three-dimensional space 220. The value and the second cost value multiplied by the first weight value are added. In addition, the movement path generation unit 114 applies a part of each side to each side of a plurality of cubes in the first viewing range 401, the second viewing range 402, and the third viewing range 403 in the three-dimensional space 220. On the other hand, the first cost value, the second cost value multiplied by the first weight value, and the third cost value multiplied by the second weight value larger than the first weight value are added.

  Note that the value of the weight value multiplied by the third cost value may be changed between the binocular visual field range 4031 and the peripheral visual field range 4032 included in the third visual recognition range 403, and the weight value of the binocular visual field range 4031 may be changed. You may make it larger than the weight value of the peripheral visual field range 4032. Further, the movement path generation unit 114 is “0” for each side of a plurality of cubes in the three-dimensional space 220 in which a part of the side is not in the first viewing range 401 in the three-dimensional space 220. A cost value is assigned. The movement route generation unit 114 has the smallest total cost value and the shortest distance from the departure point 201 to the destination point 202 among all the routes passing through the cube side from the departure point 201 to the destination point 202. As a travel route.

  Further, when the current position of the person, the direction of the person's body, the direction of the person's face, and the direction of the line of sight of the person are acquired, the movement path generation unit 114 is defined in accordance with the current position of the person. A viewing range 401, a second viewing range 402 defined according to the orientation of the person's body, a third viewing range 403 defined according to the orientation of the person's face, and a direction of the person's line of sight The fourth viewing range 404 defined in the above is superimposed on the three-dimensional space 220. The movement path generation unit 114 calculates the first calculated for each side of the plurality of cubes in which a part of the side is in the first viewing range 401 in the three-dimensional space 220 according to the distance from the current position of the person. A cost value of 1 is assigned, and a part of the side is calculated according to the distance from the current position of the person for each side of the plurality of cubes in the second viewing range 402 in the three-dimensional space 220. According to the distance from the position of the person's face with respect to each side of the plurality of cubes where a second cost value is assigned and a part of the side is within the third viewing range 403 in the three-dimensional space 220 The calculated third cost value is assigned, and the distance from the position of the person's eyes to each side of the plurality of cubes in which a part of the side is within the fourth viewing range 404 in the three-dimensional space 220 is set. A fourth cost value calculated accordingly is assigned. At this time, the first cost value, the second cost value, the third cost value, and the fourth cost value are calculated by dividing the predetermined constant α by the distance from the current position of the person.

  Then, the movement path generation unit 114 applies the first cost to each side of the plurality of cubes in which a part of the side is in the first viewing range 401 and the second viewing range 402 in the three-dimensional space 220. The value and the second cost value multiplied by the first weight value are added. In addition, the movement path generation unit 114 applies a part of each side to each side of a plurality of cubes in the first viewing range 401, the second viewing range 402, and the third viewing range 403 in the three-dimensional space 220. On the other hand, the first cost value, the second cost value multiplied by the first weight value, and the third cost value multiplied by the second weight value larger than the first weight value are added. Further, the movement path generation unit 114 has a part of the side in the first viewing range 401, the second viewing range 402, the third viewing range 403, and the fourth viewing range 404 in the three-dimensional space 220. For each side of the plurality of cubes, a first cost value, a second cost value multiplied by the first weight value, and a third weight value multiplied by a second weight value greater than the first weight value The cost value and the fourth cost value multiplied by the third weight value larger than the second weight value are added. Further, the movement path generation unit 114 assigns a cost value of “0” to each side of a plurality of cubes in which a part of the side is not within the first viewing range 401 in the three-dimensional space 220. The movement route generation unit 114 has the smallest total cost value and the shortest distance from the departure point 201 to the destination point 202 among all the routes passing through the cube side from the departure point 201 to the destination point 202. As a travel route.

  As described above, in the modification of the first embodiment, a movement path that moves in the three-dimensional space is generated, and therefore, the movement path of the autonomous flying robot 10 that does not enter the human field of view is generated with higher accuracy. Can do.

(Embodiment 2)
In the first embodiment, the movement range outside the viewing range is determined as the movement range where the autonomous flying robot can move, but in the second embodiment, the movement range within which the autonomous flying robot can move within the viewing range of a predetermined person. decide.

  FIG. 12 is a block diagram illustrating a configuration of the autonomous flight robot according to the second embodiment of the present disclosure. The configuration of the flight control system in the second embodiment is the same as that in FIG.

  An autonomous flying robot 11 illustrated in FIG. 12 includes an actuator 101, a position measurement unit 102, an image acquisition unit 103, a communication unit 104, a control unit 1051, and a storage unit 106. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The storage unit 106 stores identification information for identifying a predetermined person in advance. The identification information is input by the terminal device 30 and transmitted to the autonomous flight robot 11. The communication unit 104 receives the identification information transmitted by the terminal device 30 and stores it in the storage unit 106. In this way, the terminal device 30 registers the identification information in the storage unit 106 of the autonomous flying robot 11. The identification information is a face image of a predetermined person. The predetermined person is, for example, a supervisor who monitors the autonomous flight robot 10, a manager who manages the autonomous flight robot 10, or an owner who owns the autonomous flight robot 10. Further, the storage unit 106 may store a plurality of pieces of identification information corresponding to a plurality of persons instead of storing one piece of identification information corresponding to one person.

  The control unit 1051 is, for example, a CPU, and controls the operation of the autonomous flying robot 11. The control unit 1051 includes a person information acquisition unit 111, a visual range calculation unit 112, a movement range determination unit 113, a movement route generation unit 114, a movement control unit 115, and a registered person determination unit 116. The autonomous flight robot 11 has a memory (not shown), and a program for causing the memory to function as the control unit 1051 may be recorded in the memory. The control unit 1051 functions when the CPU executes this program. Alternatively, the control unit 1051 may be configured using a dedicated circuit incorporating the function of the control unit 1051. The dedicated circuit may be an integrated circuit, for example.

  The registered person determination unit 116 determines whether or not a person existing around the autonomous flying robot 11 is a predetermined person based on the identification information registered in the storage unit 106. That is, the registered person determination unit 116 compares the face image of the person included in the image information with the face image registered in advance in the storage unit 106, and when the two face images are the same person, It is determined that a person existing around the flying robot 11 is a predetermined person.

  When it is determined that the person existing around the autonomous flying robot 11 is a predetermined person, the movement range determining unit 113 sets the moving range within the visual recognition range of the predetermined person existing around the autonomous flying robot 11. decide.

  The movement path generation unit 114 generates a movement path along which the autonomous flying robot 10 moves within the movement range determined by the movement range determination unit 113. In the second embodiment, the movement path generation unit 114 generates a movement path along which the autonomous flying robot 10 moves within a visual recognition range of a predetermined person existing around the autonomous flying robot 11.

  The method for calculating the viewing range and the method for generating the movement path in the second embodiment are the same as those in the first embodiment. However, the movement route generation unit 114 has the largest total cost value among all routes passing through the sides of the grid from the departure point 201 to the destination point 202, and the distance from the departure point 201 to the destination point 202 is the longest. A short route is generated as the moving route 204.

  In the second embodiment, the identification information may be transmitted from a communication device carried by a predetermined person. In this case, the communication device is, for example, a device that transmits identification information using infrared rays or a device that transmits identification information wirelessly. The communication unit 104 receives the identification information transmitted by the communication device. The registered person determination unit 116 determines whether or not a person existing around the autonomous flying robot 11 is a predetermined person based on the identification information registered in the storage unit 106. That is, the registered person determination unit 116 compares the identification information received by the communication unit 104 with the identification information registered in advance in the storage unit 106. If the two identification information matches, the registered person determination unit 116 It is determined that a person existing around is a predetermined person.

  As described above, since the moving range is determined within the viewing range of the predetermined person whose identification information is registered in advance, the predetermined person can always monitor the autonomous mobile robot 11 moving within the viewing range.

(Embodiment 3)
In Embodiment 1 and Embodiment 2, a movement path is generated in autonomous flight robots 10 and 11, but in Embodiment 3, a movement path is generated in a server connected to the autonomous flight robot via a network. The

  FIG. 13 is a block diagram illustrating a configuration of a flight control system according to the third embodiment of the present disclosure. In the third embodiment, description of the same configurations as those in the first and second embodiments is omitted.

  The flight control system shown in FIG. 13 includes an autonomous flight robot 12, a monitoring camera 20, a terminal device 30, and a server 50.

  The autonomous flying robot 12 includes an actuator 101, a position measurement unit 102, an image acquisition unit 103, a communication unit 104, and a control unit 1052. The control unit 1052 includes a movement control unit 115. The autonomous flying robot 12 has a memory (not shown), and a program for causing the memory to function as the control unit 1502 may be recorded in the memory. The control unit 1502 functions when the CPU executes this program. Alternatively, the control unit 1502 may be configured using a dedicated circuit in which the function of the control unit 1502 is incorporated. The dedicated circuit may be an integrated circuit, for example.

  The communication unit 104 transmits, to the server 50, image information obtained by photographing a person existing around the autonomous flying robot 10 acquired by the image acquisition unit 103. In addition, the communication unit 104 receives the travel route information transmitted by the server 50.

  The movement control unit 115 controls the movement of the autonomous flying robot 12 according to the movement path indicated by the movement path information received by the communication unit 104.

  The server 50 is connected to the autonomous flying robot 12, the monitoring camera 20, and the terminal device 30 via the network 40 so as to be communicable. The server 50 includes a communication unit 501 and a control unit 502.

  The communication unit 501 receives image information from the monitoring camera 20 via the network 40. The communication unit 104 receives image information from the autonomous flying robot 12 via the network 40. Further, the communication unit 104 receives information indicating the departure place and the destination from the terminal device 30 via the network 40. In addition, the communication unit 104 receives environment information indicating a map around the autonomous flying robot 10 specified by position information indicating the current position of the autonomous flying robot 12 from the terminal device 30.

  The control unit 502 is, for example, a CPU, and generates a movement path along which the autonomous flying robot 12 moves. The control unit 502 includes a person information acquisition unit 511, a visual range calculation unit 512, a movement range determination unit 513, and a movement route generation unit 514. The server 50 has a memory (not shown), and a program for functioning as the control unit 502 may be recorded in the memory. The control unit 502 functions when the CPU executes this program. Alternatively, the control unit 502 may be configured using a dedicated circuit incorporating the function of the control unit 502. The dedicated circuit may be an integrated circuit, for example.

  Note that the functions of the person information acquisition unit 511, the visual range calculation unit 512, the movement range determination unit 513, and the movement route generation unit 514 in the third embodiment are the same as those of the personal information acquisition unit 111 and the visual range calculation unit 112 in the first embodiment. The functions of the movement range determination unit 113 and the movement route generation unit 114 are the same. In the third embodiment, a movement route is generated by the same method as in the first embodiment.

  The communication unit 104 transmits movement route information indicating the movement route generated by the movement route generation unit 114 to the autonomous flying robot 12.

  Thus, since the movement route is generated in the server 50, the calculation load on the autonomous flying robot 12 can be reduced.

  In the third embodiment, the server 50 generates a movement route. However, the present disclosure is not particularly limited thereto, and the terminal device 30 may generate a movement route, and the autonomous flying robot 12 is operated. The pilot that performs may generate a movement path.

  In the first to third embodiments, the autonomous flying robot is an example of an autonomous mobile robot. However, the present disclosure is not particularly limited thereto, and the configuration of the autonomous flying robot is an autonomous traveling robot (unmanned) that travels on the ground. The present invention can be similarly applied to an automobile) or a cleaning robot that autonomously cleans. Further, the space in which the autonomous mobile robot moves may be either indoors or outdoors.

  In addition, some of the components included in the autonomous mobile robot or server in each of the above embodiments may be configured by, for example, one system LSI (Large Scale Integration). For example, at least one of the communication unit 104 and the control unit 105 of the autonomous mobile robot 10 may be configured from a system LSI.

  For example, at least one of the communication unit 104 and the control unit 1051 of the autonomous mobile robot 11 may be configured by a system LSI.

  Further, for example, at least one of the communication unit 104 and the control unit 1052 of the autonomous mobile robot 12 may be configured by a system LSI.

  For example, at least one of the communication unit 501 and the control unit 502 of the server 50 may be configured by a system LSI.

  The system LSI is an ultra-multifunctional LSI manufactured by integrating a plurality of components on one chip. Specifically, a microprocessor, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. It is a computer system comprised including. A computer program is stored in the ROM. The system LSI achieves its functions by the microprocessor operating according to the computer program.

  Although the system LSI is used here, it may be called IC, LSI, super LSI, or ultra LSI depending on the degree of integration. Further, the method of circuit integration is not limited to LSI's, and implementation using dedicated circuitry or general purpose processors is also possible. An FPGA (Field Programmable Gate Array) that can be programmed after manufacturing the LSI, or a reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used.

  Further, if integrated circuit technology comes out to replace LSI's as a result of the advancement of semiconductor technology or a derivative other technology, it is naturally also possible to carry out function block integration using this technology. Biotechnology can be applied.

  The movement control method, the autonomous mobile robot, and the program according to the present disclosure constantly monitor the autonomous mobile robot when the autonomous mobile robot moves within a range in which a person existing around the autonomous mobile robot is visible. The autonomous mobile robot can move without being seen by the person by moving the autonomous mobile robot outside the range where the person existing around the autonomous mobile robot can be seen. The present invention is useful as a movement control method for controlling movement, an autonomous mobile robot that moves autonomously, and a movement control program for controlling movement of the autonomous mobile robot.

DESCRIPTION OF SYMBOLS 10, 11, 12 Autonomous flight robot 20 Surveillance camera 30 Terminal device 40 Network 50 Server 101 Actuator 102 Position measurement part 103 Image acquisition part 104 Communication part 105 Control part 106 Storage part 111 Person information acquisition part 112 View range calculation part 113 Movement range Determination unit 114 Movement route generation unit 115 Movement control unit 116 Registered person determination unit 501 Communication unit 502 Control unit 511 Person information acquisition unit 512 View range calculation unit 513 Movement range determination unit 514 Movement route generation unit 1051 Control unit 1052 Control unit

Claims (23)

A movement control method for controlling movement of an autonomous mobile robot,
Obtaining information about the surrounding people present around the autonomous mobile robot;
Based on the acquired information about the surrounding person, calculate a viewing range that the surrounding person can visually recognize,
Based on the calculated viewing range, determine a moving range in which the autonomous mobile robot can move,
Movement control method. Generating a movement path along which the autonomous mobile robot moves within the determined movement range;
The movement control method according to claim 1. Registering identification information for identifying a specific person in advance,
Based on the registered identification information, it is determined whether the surrounding person existing around the autonomous mobile robot is the predetermined person,
When it is determined that the surrounding person existing around the autonomous mobile robot is the predetermined person, the moving range is determined within the viewing range of the predetermined person existing around the autonomous mobile robot. ,
The movement control method according to claim 1 or 2. The identification information is a face image of the predetermined person.
The movement control method according to claim 3. The identification information is transmitted from a communication device carried by the predetermined person.
The movement control method according to claim 3. Determining the movement range outside the visual recognition range of the surrounding person existing around the autonomous mobile robot;
The movement control method according to claim 1 or 2. The information about the surrounding person existing around the autonomous mobile robot is at least one of the position of the surrounding person, the body direction of the surrounding person, the face direction of the surrounding person, or the direction of the line of sight of the surrounding person. Including
The movement control method according to claim 1. The viewing range is determined on a two-dimensional plane determined according to at least one of the position of the surrounding person, the body direction of the surrounding person, the face direction of the surrounding person, or the direction of the line of sight of the surrounding person. The area of
The movement control method of any one of Claims 1-7. The visual recognition range has a cost value having a different value according to information about the surrounding person,
The autonomous mobile robot superimposes the viewing range on a map including a starting point and a destination point of the autonomous mobile robot, and generates the moving route using an optimization algorithm.
The movement control method according to claim 2. The visible range includes a first area formed on the front side of the surrounding person, a second area formed on the back side of the body of the surrounding person, the first area, and the second area. A third region formed outside of
The viewing range is superimposed on a map including the starting point and the destination point of the autonomous mobile robot, and the map is divided into a grid so that the starting point and the destination point coincide with intersections of sides, and the divided grid A cost value having a first value is assigned to each of the sides of which the part of the side is in the first region, and the part of the side is not in the first region. A cost value having a second value smaller than the first value is assigned to the side in the second region, and a part of the side is in the first region and the second region. A cost value having a third value smaller than the second value is assigned to the side that is not in the third region, and a part of the side is in the first region, A side that is not in either the second region or the third region has a fourth value smaller than the third value. Grant cost value,
Of all the routes that pass through the grid edge from the starting point to the destination point, a route having the smallest total cost value and the shortest distance from the starting point to the destination point is generated as the moving route. To
The movement control method according to claim 2. The autonomous mobile robot includes an image acquisition unit that acquires an image around the autonomous mobile robot,
The information about the surrounding person is acquired from the image information acquired by the image acquisition unit.
The movement control method according to claim 1. Information about the surrounding person is acquired from image information acquired by an image acquisition device installed around the autonomous mobile robot.
The movement control method according to claim 1. The information about the surrounding person is a current position of the surrounding person acquired by a position sensor carried by the surrounding person.
The movement control method according to claim 1. The information about the surrounding person is a direction in which the surrounding person is acquired by a geomagnetic sensor carried by the surrounding person.
The movement control method according to claim 1. Information on the surrounding person is acquired from image information around the other autonomous mobile robot acquired by an image acquisition unit provided in another autonomous mobile robot other than the autonomous mobile robot.
The movement control method according to claim 1. Obtain information about obstacles around the autonomous mobile robot,
The movement range is determined based on the acquired information on the obstacle and the calculated visual range.
The movement control method according to any one of claims 1 to 15. The autonomous mobile robot is an autonomous flight robot,
Obtain the altitude at which the autonomous flying robot flies,
The moving range is determined only when the acquired altitude is lower than a predetermined altitude.
The movement control method according to any one of claims 1 to 16. When the movement range is not determined, the current position of the autonomous mobile robot is notified to a predetermined terminal device.
The movement control method according to claim 1. When the distance of the generated movement route is longer than a predetermined distance, the distance of the generated movement route is notified to a predetermined terminal device.
The movement control method according to claim 2. At least one of obtaining information about the surrounding person, calculating the viewing range, and determining the moving range is performed by a processor.
The movement control method according to claim 1. An autonomous mobile robot that moves autonomously,
A person acquisition unit for acquiring information about surrounding persons existing around the autonomous mobile robot;
Based on the acquired information about the surrounding person, a calculation unit that calculates a visible range that the surrounding person can visually recognize;
A determination unit that determines a movement range in which the autonomous mobile robot can move based on the calculated visual recognition range;
An autonomous mobile robot with At least one of the person acquisition unit, the calculation unit, and the determination unit includes a processor.
The autonomous mobile robot according to claim 21. A computer-readable program for controlling the movement of an autonomous mobile robot,
Computer
A person acquisition unit for acquiring information about surrounding persons existing around the autonomous mobile robot;
Based on the acquired information about the surrounding person, a calculation unit that calculates a visible range that the surrounding person can visually recognize;
Based on the calculated visual range, the autonomous mobile robot functions as a determination unit that determines a movable range,
program.

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