JP4857926B2 - Autonomous mobile device - Google Patents

Description

  The present invention relates to an autonomous mobile device that moves autonomously around a specific person.

Conventionally, an automatic transport robot for automatically transporting a transported object to a destination has been proposed (for example, see Patent Document 1). In the automatic transfer robot described in Patent Document 1, the transported object is stored in the robot storage unit and moved to the specified target position while the lock unit is locked, and the robot reaches the specified target position and the handling registrant checks. When the operation is performed, the lock unit is released. Thereby, the handling registrant can reliably take out the transported object stored in the storage unit of the robot at the designated target position.
JP 2001-287183 A

  According to said automatic conveyance robot, a conveyed product can be automatically conveyed to the destination. However, no consideration is given to the movement of the person following the person and notifying the information regarding the area that is a blind spot as viewed from the person.

  The present invention has been made to solve the above-mentioned problems, and in an autonomous mobile device that moves autonomously around a specific person, information on a region that becomes a blind spot as seen from the specific person is notified. An object of the present invention is to provide an autonomous mobile device capable of performing the above.

  An autonomous mobile device according to the present invention is detected by a blind spot area detecting unit that detects a blind spot area that is a blind spot for a specific person, and a blind spot area detecting unit in an autonomous mobile apparatus that moves autonomously near a specific person. Informing means for informing a specific person of blind spot information related to the blind spot area.

  According to the autonomous mobile device according to the present invention, the dead zone information related to the blind spot area detected by the blind spot area detection unit is notified to the specific person by the notification unit while autonomously moving near the specific person. As a result, it is possible to notify the specific person of information related to the area that is a blind spot as seen from the specific person.

  The autonomous mobile device according to the present invention further includes visual acquisition means for acquiring visual information obtained by the vision of a specific person, and the blind spot area detection means is based on the visual information acquired by the visual acquisition means. It is preferable to detect the region.

  In this way, the blind spot area is detected by the blind spot area detecting means based on the visual information acquired by the visual acquisition means. This makes it possible to detect the blind spot area more accurately.

  The autonomous mobile device according to the present invention further comprises information receiving means for receiving blind spot information related to a blind spot area detected by another autonomous mobile device, and the notifying means transmits the blind spot information received by the information receiving means to a specific person. It is preferable to notify to.

  If it does in this way, the blind spot information regarding the blind spot area detected by the other autonomous mobile device is received by the information receiving means, and the blind spot information received by the information receiving means is notified to a specific person by the notifying means. As a result, even if it is a blind spot area in a distant place that cannot be detected by its own autonomous mobile device, if this blind spot area is detected by another autonomous mobile device, information on this blind spot area is sent to this specific person. It is possible to notify the user.

  According to the present invention, it is possible to notify a blind spot area that is a blind spot as seen from a specific person.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings. In order to facilitate the understanding of the description, the same reference numerals are given to the same components in the drawings as much as possible, and duplicate descriptions are omitted.

  First, the configuration of the autonomous mobile device 1 according to the embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing the configuration of the autonomous mobile device 1. The autonomous mobile device 1 is an autonomous mobile robot, and follows the master or guides the master around a specific person (hereinafter referred to as “master”) who uses the autonomous mobile device 1. Move autonomously. In addition, the autonomous mobile device 1 obtains information obtained from the vision of the master including the master's visual field (hereinafter referred to as “visual information”) from the information obtained by the camera 10, the communication device 12, and the like. A blind spot area is detected based on visual information. The blind spot area is an area that becomes a blind spot for the master. And the autonomous mobile apparatus 1 alert | reports to the master the blind spot information regarding the position of the detected blind spot area etc. on the ground etc., and alerts the master.

  The camera 10 includes a pair of CCD cameras that acquire and store images of the gaze direction of the master and the surrounding environment of the master by imaging, and the vision of the master and obstacles and roads in the vision by processing the acquired image. An image processing unit for recognizing a sign or the like (ambient environment) and acquiring visual information. This image processing unit extracts and recognizes obstacles, road signs, and the like in the master's field of view from an image acquired by a pair of CCD cameras by edge extraction or pattern recognition processing. Further, the distance and the lateral displacement from the object are obtained by the triangulation method based on the difference in the position of the object such as the master in the left and right acquired images, and the relative speed is obtained from the change amount with respect to the distance obtained in the previous frame. The camera 10 and an electronic control device (hereinafter referred to as “ECU”) 20 described later are connected via a communication line, and information acquired by the camera 10 is transmitted to the ECU 20 via this communication line.

  The communication device 12 includes a transmitter 13 and a receiver 14, and is installed on, for example, other autonomous mobile devices 101 located around the autonomous mobile device 1, vehicles, and traffic lights or roads installed at intersections. Information is transmitted to and received from an infrastructure such as a camera or radar. Since the other autonomous mobile device 101 has the same or similar configuration as the autonomous mobile device 1, description thereof is omitted here. For example, the transmitter 13 transmits information such as the position / moving direction / moving speed of the autonomous mobile device 1, information such as the position / moving direction / moving speed of the master, and the blind spot information described above to other autonomous moving devices 101, Sent to vehicles traveling around. Note that the information as described above is transmitted by the transmitter 13 to other autonomous mobile devices 101 located around the autonomous mobile device 1 immediately after being acquired by the autonomous mobile device 1.

  On the other hand, the receiver 14, for example, information such as the position / movement direction / movement speed of the autonomous mobile device 101 transmitted from the other autonomous mobile device 101, information such as the position / movement direction / movement speed of other pedestrians. , Information such as the position / movement direction / movement speed / operation state of a traveling vehicle transmitted from a vehicle traveling in the vicinity, information such as a position of a stopped vehicle transmitted from a vehicle parked in the vicinity, and the above-described information Receives information on traffic lights, traffic lights, etc. sent from the infrastructure. The receiver 14 receives the blind spot information from the other autonomous mobile device 101. The blind spot information received from another autonomous mobile device 101 is information related to a blind spot area that is a blind spot for the master of another autonomous mobile device 101. That is, the receiver 14 functions as information receiving means described in the claims. Note that the communication device 12 is set to be able to transmit and receive information within a radius of about 100 m, for example.

  The communication device 12 and the ECU 20 are configured to be able to exchange information with each other by being connected via a communication line. Transmission information generated by the ECU 20 is transmitted from the ECU 20 to the transmitter 13 via this communication line. On the other hand, various ambient environment information received by the receiver 14 is transmitted to the ECU 20 via this communication line.

  As described above, in this embodiment, the camera 10 and the communication device 12 recognize the master's field of view and the environment within the field of view and acquire visual information. That is, visual information obtained by the vision of the master is acquired by the camera 10 and the communication device 12. More specifically, for example, the master's line-of-sight direction / position / movement direction / movement speed, position / shape / movement direction / movement speed / operation state of other pedestrians, bicycles, automobiles, etc., stopped vehicles, utility poles and falling objects The surrounding environment such as the position and shape of obstacles such as traffic lights and traffic conditions such as road signs are recognized. Further, for example, attributes relating to the type, weight, material, etc. of the object are also recognized. Here, examples of the attribute relating to the type of object include classifications such as a large vehicle, a small vehicle, a two-wheeled vehicle, and a bicycle. The attribute relating to the weight is heavy or light, and the attribute relating to the material includes whether the surface is soft or hard. That is, the camera 10 and the communication device 12 function as visual acquisition means described in the claims.

  Here, the recognition as to whether or not the person is the master is performed, for example, by putting ID information indicating the master on the communication information of the communication between the master and the autonomous mobile device 1 or by the person who has been imaged. This can be done by determining whether the shape or pattern of the clothes matches that of the master who has been learned beforehand. Further, authentication techniques using fingerprints and irises may be combined.

  The ECU 20 includes a microprocessor that performs calculations, a ROM that stores programs for causing the microprocessor to execute each process, a RAM that stores various data such as calculation results, and a backup RAM in which the stored contents are held by a 12V battery. It is comprised by. With the above configuration, a blind spot area detection unit 22, a projection instruction unit 24, and an actuator control unit 26 are built in the ECU 20.

  The blind spot area detection unit 22 detects a blind spot area that is a blind spot for the master based on visual information such as the visual field of the master recognized by the camera 10 and the communication device 12. That is, the blind spot area detection unit 22 configuring the ECU 20 functions as a blind spot area detection unit described in the claims.

  The projection instruction unit 24 instructs the actuator control unit 26 to project the blind spot information related to the blind spot area detected by the blind spot area detection unit 22 onto the ground to notify the master. The projection instructing unit 24 instructs the blind spot information to be projected, for example, toward the ground ahead in the direction of movement of the master. Thereby, since blind spot information is alert | reported to a master, a master's attention is called.

  The actuator control unit 26 drives the speaker 30, the backlight 32, the electric motor 34, the projector 42, the display 44, and the like based on the instruction content instructed by the projection instruction unit 24. The speaker 30 is connected to the ECU 20 and pays attention to the surroundings of the master, the owner, the surroundings of the autonomous mobile device 1, etc. by issuing a warning sound or voice information according to a control signal output from the actuator control unit 26. Prompt. The backlight 32 is also connected to the ECU 20 and is driven by the actuator control unit 26. For example, by emitting light of a color corresponding to the degree of danger as the blind spot information, the surroundings of the master, the owner, or the autonomous mobile device 1 To alert the master of the blind spot information. The electric motor 34 is also connected to the ECU 20, is driven by the actuator control unit 26, and moves the autonomous mobile device 1 by rotating the wheels 36 attached to the electric motor 34.

  Further, the ECU 20 is connected to a projector 42 and a display 44, and projects and displays various information such as the blind spot information, the danger information, and the presence notification information for notifying the presence of the master on the ground. Accordingly, attention is urged around the master, the surroundings of the owner, the surroundings of the autonomous mobile device 1, and the like. The blind spot information includes video information in which a blind spot area viewed from the master, that is, a blind spot area that cannot be recognized by the master, is captured by the camera 10, and character information regarding the degree of risk in the blind spot area. It is. That is, the projection instruction unit 24, the actuator control unit 26, and the actuators such as the speaker 30, the backlight 32, the electric motor 34, the projector 42, and the display 44 that constitute the ECU 20 function as notification means described in the claims. To do.

  Next, the projection processing operation in the autonomous mobile device 1 will be described with reference to FIG. FIG. 2 is a flowchart showing a processing procedure of the projection processing for performing the above projection. The projection process shown in the flowchart of FIG. 2 is mainly performed by the ECU 20, and is repeatedly executed at a predetermined timing from when the autonomous mobile device 1 is turned on until it is turned off.

  First, in step S101, the gaze direction of the master is recognized by the camera 10, the communication device 12, and the like. More specifically, for example, the master's line-of-sight direction / position / movement direction / movement speed, position / shape / movement direction / movement speed / operation state of other pedestrians, bicycles, automobiles, etc., stopped vehicles, utility poles and falling objects The surrounding environment such as the position and shape of obstacles such as traffic lights and traffic conditions such as road signs are recognized. Further, for example, attributes relating to the type, weight, material, etc. of the object are also recognized.

  In the next step S102, the above-described visual information is acquired by the camera 10 and the communication device 12 based on the line-of-sight direction recognized in step S101, and the visual field of the master and the surrounding environment within the visual field are recognized. The

  In the next step S103, visual information including the recognized master's field of view and the surrounding environment in the field of view is comprehensively determined by the blind spot area detection unit 22, and detection of a blind spot area that becomes a blind spot for the current master is performed as a blind spot. Tried by the area detector 22.

  In the next step S104, the blind spot area detection unit 22 determines whether or not the detected blind spot area exists. That is, it is determined whether or not the blind spot area has been detected by the detection trial in step S103. When the blind spot area is detected, that is, when the detected blind spot area exists, the process proceeds to step S105 described later. On the other hand, when the blind spot area is not detected, that is, when the detected blind spot area does not exist, the process proceeds to step S115 described later.

  In step S105, the autonomous mobile device 1 is moved by the actuator control unit 26 to a position where the detected blind spot area and the surrounding environment can be recognized.

  In the next step S106, the blind spot information is acquired by the projection instruction unit 24 based on the moved position.

  In the next step S107, the actuator control unit 26 generates a control signal based on the blind spot information acquired in step S106, and the speaker 30 generates a warning sound according to the control signal output from the actuator control unit 26. And voice information. Then, by issuing a warning sound or voice information, attention is urged while notifying the presence of the master around the master or around the autonomous mobile device 1.

  In the next step S108, the actuator control unit 26 generates a control signal based on the blind spot information acquired in step S106 or step S115 described later, and in accordance with the control signal output from the actuator control unit 26, the projector 42 projects various information such as blind spot information on the ground. This projection informs the master of blind spot information and alerts the master. Note that the blind spot information includes video information in which a region that is a blind spot when viewed from the master, that is, a region that cannot be recognized by the master, is captured by the camera 10, character information regarding the degree of risk in the blind spot, and the like. include.

  In the next step S109, the actuator control unit 26 generates a control signal based on the blind spot information acquired in step S106 or step S115, which will be described later, and the display signal is displayed according to the control signal output from the actuator control unit 26. 44 displays various information such as the blind spot information. By this display, blind spot information and the like are notified to the master, and the master's attention is drawn. After step S109, the process returns to step S101.

  In step S <b> 115, the blind spot area detection unit 22 determines whether the blind spot information is received by the autonomous mobile apparatus 1 from other autonomous mobile apparatuses 101 located around the autonomous mobile apparatus 1. More specifically, it is determined whether the blind spot information has been received by the receiver 14 of the autonomous mobile device 1 from the transmitter 13 of the autonomous mobile device 101. If blind spot information can be received from another device 101, the process proceeds to step S108 described above in order to use this blind spot information. On the other hand, if blind spot information cannot be received from another device 101, the blind spot information is attempted to be acquired again, and the process returns to step S101.

  Next, with reference to FIG. 3, the manner in which the autonomous mobile device 1 drives the projector 42 and the display 44 to alert the master is described. FIG. 3 is a diagram illustrating an example of a state in which the autonomous mobile device 1 drives the projector 42 and the display 44 to project and display blind spot information.

  As shown in FIG. 3, the projector 42 is driven to project various information such as blind spot information and danger information onto the projection area PF on the ground or road surface, thereby alerting the master. In addition, by projecting these pieces of information on the projection area PF at a remote point, it is possible to display the information for the master located at a point away from the autonomous mobile device 1. The blind spot information includes video information VD photographed by the camera 10, character information LR relating to traffic conditions in the blind spot area, and the like. Here, the approaching passenger car is displayed in the video format as the video information VD, and the character string “the car is approaching” indicating that the passenger car is approaching is displayed as the character information LR. Moreover, the master's attention is alerted by displaying the above-mentioned various information on the display 44. In addition, the operation | movement for alerting the above-mentioned attention is applied independently or in combination so that a master's attention may be attracted more according to the magnitude | size (height) of the danger which a blind spot information shows.

  Next, a method for projecting blind spot information in an actual traffic environment will be described with reference to FIGS. Each of FIGS. 4 to 6 is an explanatory diagram for explaining a method for projecting blind spot information in an actual traffic environment. In each of FIGS. 4 to 6, passenger cars H1 and H2 stop in tandem on one road R1 of two lanes R1 and R2 adjacent to each other, and passenger car H3 is indicated by a white arrow on the other road R2. It is assumed that it is moving in the direction of The two-lane roadway R1, R2 is sandwiched between two sidewalks SW1, SW2, the roadway R1 is in contact with the sidewalk SW1, and the roadway R2 is in contact with the sidewalk SW2. The sidewalk SW1 is sandwiched between the building BD1 and the roadway R1, and the sidewalk SW2 is sandwiched between the building BD2 and the roadway R2.

  First, as shown in FIG. 4, a case where a master B1 moving in the direction indicated by the black arrow on the sidewalk SW1 passes between the stopped passenger cars H1 and H2 and crosses the road R1 is considered. Here, the space between the passenger cars H1 and H2 is almost blind spot for the master B1, and the master B1 can recognize the space between the passenger cars H1 and H2 and the space over the passenger cars H1 and H2. Not.

  At this time, the autonomous mobile device C1 of the master B1 recognizes the visual line direction of the master B1, recognizes the visual field of the master B1 based on the visual line direction, acquires visual information, and based on the visual information, the blind spot area VF1 Detect the presence of Then, as shown in FIG. 4, the autonomous mobile device C1 moves to a position where the blind spot area VF1 can be recognized, and acquires blind spot information based on the blind spot area VF1. The blind spot information includes information indicating that the passenger car H3 is approaching while facing the vehicle. Next, the autonomous mobile device C1 notifies the presence of the master B1 around the blind spot area VF1 by projecting the presence notification information LT described above onto the ground near the tip of the blind spot area VF1. The presence notification information LT is information that is directed to the blind spot area VF1 and that notifies the presence of the master B1, and is represented by, for example, blinking light. Further, the autonomous mobile device C1 projects the blind spot information on the projection area PF1 on the ground and displays the blind spot information on the display 44. As a result, it is possible to notify the master B1 of the information related to the blind spot area VF1 that becomes a blind spot as seen from the master B1. Therefore, the master B2 can recognize that the passenger car H3 is approaching while facing.

  Further, as shown in FIG. 4, a case is considered in which the master B2 moving in the direction indicated by the black arrow on the sidewalk SW2 is going to turn right at the corner of the building BD2. Here, for the master B2, the space around the building BD2 is almost a blind spot, and the master B2 cannot recognize the state of this space.

  At this time, the autonomous mobile device C2 of the master B2 recognizes the gaze direction of the master B2, recognizes the visual field of the master B2, acquires visual information, and detects the presence of the blind spot region VF2. Then, as shown in FIG. 4, the autonomous mobile device C2 moves to a position where the blind spot area VF2 can be recognized, and acquires blind spot information. This blind spot information includes information related to the state of the space around the building BD2. Next, the autonomous mobile device C2 projects the blind spot information on the projection area PF2 on the ground and displays the blind spot information on the display 44. As a result, it becomes possible to notify the master B2 of the information related to the blind spot area VF2 that is a blind spot when viewed from the master B2, and recognize it.

  Next, as shown in FIG. 5, the master B3 who is moving on the sidewalk SW2 in the direction indicated by the black arrow is planning to make a right turn at the corner of the building BD2, but currently moves in front of this corner. Consider the case of being inside. Here, the master B3 cannot recognize the state of the space around the building BD2. Note that the master B4 is turning right in the direction indicated by the black arrow on the sidewalk SW2 near the corner of the building BD2, and the autonomous mobile device C4 is moving near the position where the corner is fully turned. Here, the space around the building BD2 is almost a blind spot for the master B4, and the master B4 cannot recognize the state of this space.

  At this time, the autonomous mobile device C4 of the master B4 recognizes the visual line direction of the master B4, recognizes the visual field of the master B4, acquires visual information, and detects the presence of the blind spot area VF4. Then, as shown in FIG. 5, the autonomous mobile device C4 moves to a position where the blind spot area VF4 can be recognized, and acquires blind spot information. Next, the autonomous mobile device C2 projects the blind spot information on the projection area PF4 on the ground. As a result, it is possible to notify the master B4 of information related to the blind spot area VF4 that is a blind spot as seen from the master B4.

  Further, the autonomous mobile device C3 of the master B3 recognizes the direction of the line of sight of the master B3, recognizes the visual field of the master B3, and acquires visual information, but does not detect the presence of the blind spot area. That is, there is no detected blind spot area. Here, the autonomous mobile device C3 is located at a place where the blind spot information acquired by the autonomous mobile device C4 from the surrounding autonomous mobile device C4 can be received by communication. For this reason, the autonomous mobile device C3 acquires this blind spot information and information related to the position of the autonomous mobile device C4 through communication with the autonomous mobile device C4. Then, the autonomous mobile device C3 integrates the blind spot information with the blind spot information already acquired by the autonomous mobile device C3 using a mosaic technique or the like. The mosaic technique is a technique for generating new image information by combining a plurality of images by aligning a plurality of pieces of image information. Next, the autonomous mobile device C3 projects the integrated blind spot information on the projection area PF3 on the ground. As a result, it is possible to notify the master B3 of the information related to the blind spot area VF4 that is a blind spot as seen from the master B3.

  Next, as shown in FIG. 6, a case is considered in which the master B5 moving in the direction indicated by the black arrow on the sidewalk SW1 tries to cross the road R1 between the stopped passenger cars H1 and H2. . Here, the space between the passenger cars H1 and H2 is almost blind spot for the master B5, and the master B1 can recognize the space between the passenger cars H1 and H2 and the space over the passenger cars H1 and H2. Not.

  At this time, the autonomous mobile device C5 of the master B5 recognizes the visual line direction of the master B5, recognizes the visual field of the master B5, acquires visual information, and detects the presence of the blind spot area VF5. Then, as shown in FIG. 6, the autonomous mobile device C5 moves to a position where the blind spot area VF5 can be recognized, and acquires blind spot information. Next, the autonomous mobile device C5 notifies the master B5 of the blind spot information by emitting this light, for example, by blinking the light of the color corresponding to the degree of danger indicated by the blind spot information. Further, the autonomous mobile device C5 displays the blind spot information on the display 44. As a result, it becomes possible to notify the master B5 of the information related to the blind spot area VF5 that becomes a blind spot as seen from the master B5. Then, the master B5 can safely cross the road R1 between the stopped passenger cars H1 and H2.

  According to the autonomous mobile device 1 of the present embodiment, as shown in FIG. 4, for example, the visual field of the master B1 is comprehensively recognized by the camera 10 and the communication device 12 and the visual information is acquired. The blind spot area VF1 is detected by the blind spot area detection unit 22 based on this visual information. Thereby, the blind spot area VF1 can be detected more accurately. Then, the blind spot information related to the detected blind spot area VF1 is acquired by the projection instruction unit 24. Next, this blind spot information is projected on the sidewalk SW1 and the ground projection area PF1 on the roadway R1 by the projector 42 and the like. The master B1 is notified.

  As a result, it is possible to notify the master B1 of information related to the area VF1 that is a blind spot when viewed from the master B1, for example, a passenger car H3 that is a moving obstacle in a place that cannot be seen as a blind spot. Can be avoided, and a safe walking movement of the master B1 is realized. Further, by projecting this blind spot information onto the projection area PF1 on the ground, the information can be displayed even at a point away from the autonomous mobile device 1. Further, the autonomous mobile device C1 projects the presence notification information LT onto the ground, so that the presence of the master B1 can be announced and notified to the surroundings of the master and the autonomous mobile device C1. .

  Further, as shown in FIG. 5, blind spot information related to the blind spot area VF4 detected by another autonomous mobile device C4 is received by the receiver 14 of the autonomous mobile device C3, and the received blind spot information is received by the projector 42 or the like on the sidewalk. It is projected onto the ground on SW2 and notified to the master B3 of the autonomous mobile device C3. Thereby, even if it is the blind spot area VF4 in a distant place that cannot be detected by the autonomous mobile device C3 of the master B3, if this blind spot area VF4 is detected by another autonomous mobile device C4, information on this blind spot area VF4 Can be notified to the master B3.

  Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made. For example, as means for recognizing the master and the surrounding environment, sensors such as laser radar and millimeter wave radar may be used in addition to the camera 10 and the communication device 12 described above.

  Moreover, in the said embodiment, although the wheel 36 and the electric motor 34 were used as a moving means and its driving force source of the autonomous mobile device 1, a moving means and its driving force source should be restricted to the wheel 36 and the electric motor 34. For example, a caterpillar or a small engine can be used. Moreover, how to determine the risk level of the master is not limited to the above embodiment.

It is a block diagram which shows the structure of the autonomous mobile apparatus which concerns on this embodiment. It is a flowchart which shows the process sequence of a projection process. It is a figure which shows an example of a mode that a blind spot information is projected and displayed using a projector and a display. It is explanatory drawing explaining the projection method of the blind spot information in an actual traffic environment. It is explanatory drawing explaining the projection method of the blind spot information in an actual traffic environment. It is explanatory drawing explaining the projection method of the blind spot information in an actual traffic environment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,101, C1-C5 ... Autonomous mobile device, 10 ... Camera, 12 ... Communication apparatus, 20 ... ECU, 22 ... Blind spot area detection part, 24 ... Projection instruction | indication part, 26 ... Actuator control part, 30 ... Speaker, 32 ... Backlight, 34 ... Electric motor, 36 ... Wheel, 42 ... Projector, 44 ... Display, B1-B5 ... Master, BD1, BD2 ... Building, H1-H3 ... Passenger car, LR ... Text information, LT ... Presence information, PF , PF1 to PF4 ... projection area, R1, R2 ... roadway, SW1, SW2 ... sidewalk, VD ... video information, VF1, VF2, VF4, VF5 ... blind spot area.

Claims (1)

In an autonomous mobile device that moves autonomously around a specific person,
A blind spot area detecting means for detecting a blind spot area that becomes a blind spot for the specific person based on the line-of-sight direction of the specific person acquired by the camera;
Informing means for informing the specific person of blind spot information regarding the blind spot area detected by the blind spot area detecting means;
Information receiving means for receiving blind spot information relating to a blind spot area detected by another autonomous mobile device;
Wherein the notifying means, the autonomous mobile apparatus characterized that you notify the blind spot information by the information receiving means receives the particular person.

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