AUTONOMOUS MOVING BODY, OBSTACLE SENSING METHOD, AND OBSTACLE AVOIDING METHOD

• US 20150046018A1
• Filed: 08/08/2014
• Published: 02/12/2015
• Est. Priority Date: 08/09/2013
• Status: Abandoned Application

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: HAYASHI, Hironao, IWATA, Takuya
• Application Number:
  US14/454,995
• Publication Number:
  US 20150046018A1
• Time in Patent Office: Days
• US Class Current: 701/26
• CPC Class Codes: B25J 11/0005 Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Provided is an autonomous moving body including a recording unit that records in advance position information of a fixed obstacle whose position does not change, a detection unit that detects an obstacle likely to interfere with the autonomous moving body when moving through a moving path, a check unit that checks whether the detected obstacle is the fixed obstacle, a control unit that determines whether to clear away the obstacle when the check unit concludes that the obstacle is not the fixed obstacle, and an informing unit that outputs a signal requesting to clear away the obstacle when the control unit determines to clear away the obstacle.

Claims

1. An autonomous moving body comprising:

a recording unit that records in advance position information of a fixed obstacle whose position does not change;

a detection unit that detects an obstacle likely to interfere with the autonomous moving body when moving through a moving path;

a check unit that checks whether the detected obstacle is the fixed obstacle;

a control unit that determines whether to clear away the obstacle when the check unit concludes that the obstacle is not the fixed obstacle; and

an informing unit that outputs a signal requesting to clear away the obstacle when the control unit determines to clear away the obstacle.

2. The autonomous moving body according to claim 1, wherein

the detection unit detects an obstacle around the moving path at each of a plurality of times when the autonomous moving body moves through the moving path, and

when the detected obstacle is an obstacle whose position does not change, position information of the detected obstacle is recorded as position information of the fixed obstacle in the recording unit.

3. The autonomous moving body according to claim 1, wherein

when the check unit concludes that the obstacle is not the fixed obstacle, the control unit determines whether the obstacle is avoidable, and

when determining that the obstacle is avoidable, the control unit controls the autonomous moving body to move to avoid the obstacle, and

when determining that the obstacle is not avoidable, the control unit controls the informing unit to output the signal.

4. The autonomous moving body according to claim 1, wherein

when a specified period of time has elapsed with the obstacle remaining without being cleared away after the signal is output, the control unit controls the autonomous moving body to detect a person nearby, and

when a person nearby is detected, the control unit controls the autonomous moving body to move toward the person and controls the informing unit to output the signal again, and

when a person nearby is not detected, the control unit controls the autonomous moving body to detour around the obstacle.

5. The autonomous moving body according to claim 1, wherein

the autonomous moving body is to provide a service to persons around the moving path, and

the control unit accesses a schedule management system and checks schedules of the persons to receive the service, calculates an attendance rate for each organization or group to which the persons belong, and changes the moving path to omit the service to the persons belonging to the organization or group where the attendance rate is less than a specified value.

6. The autonomous moving body according to claim 1, wherein

the autonomous moving body is to provide a service to persons around the moving path, and

the control unit calculates an attendance rate of the persons to receive the service for each area using a senor, and changes the moving path to omit the service to the persons belonging to the area where the attendance rate is less than a specified value.

7. An obstacle sensing method for an autonomous moving body, comprising:

a recording step of recording in advance position information of a fixed obstacle whose position does not change;

a detection step of detecting an obstacle likely to interfere with the autonomous moving body when moving through a moving path;

a check step of checking whether the detected obstacle is the fixed obstacle; and

a determination step of determining that the obstacle is a movable obstacle whose position changes or a movable obstacle placed temporarily when the obstacle is not the fixed obstacle.

8. The obstacle sensing method for an autonomous moving body according to claim 7, wherein the recording step includes:

a peripheral detection step of detecting an obstacle around the moving path at each of a plurality of times when the autonomous moving body moves through the moving path; and

a fixed obstacle recording step of recording position information of the obstacle detected in the peripheral detection step and whose position does not change as position information of the fixed obstacle.

9. An obstacle avoiding method for an autonomous moving body, comprising:

an obstacle determination step of determining that the obstacle likely to interfere with the autonomous moving body as the movable obstacle using the obstacle sensing method for an autonomous moving body according to claim 7;

an avoidance determination step of determining whether the movable obstacle is avoidable;

an avoiding step of moving to avoid the movable obstacle when determining that the movable obstacle is avoidable; and

a signal output step of outputting a signal requesting to clear away the movable obstacle when determining that the movable obstacle is not avoidable.