Autonomous mobile apparatus, control device, and autonomous mobile method

• US 9,588,518 B2
• Filed: 05/18/2012
• Issued: 03/07/2017
• Est. Priority Date: 05/18/2012
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Nakamura, Ryosuke, Amino, Azusa, Ueda, Taishi
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US14/401,615
• Publication Number:
  US 20150160654A1
• Time in Patent Office: 1,754 Days
• Field of Search: 700/253, 700/255, 700/259, 701/23, 701/28, 701/49, 701/301, 701/302
• US Class Current: 1/1
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S

Abstract

A control device capable of providing smooth movement even in a crowded environment is to be provided. The control device includes a movement processing section (101) that creates a movement plan that is information relating to movement of an autonomous mobile apparatus (1); a movement control section (21) that moves the autonomous mobile apparatus (1) according to the movement plan created by the movement processing section (101); a congestion degree estimating section (102) that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus (1); a visual field estimating section (103) that estimates a visual field of a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus (1) is a predetermined value or higher; and an attention calling control section (104) that calls attention using an attention calling device (15) to enter the estimated visual field.

Claims

1. An autonomous mobile apparatus comprising:

a congestion degree estimating section that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus;

a visual field estimating section that estimates a visual field that is viewable by a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus is a predetermined value or higher;

an attention calling control section that calls attention using an attention calling device to enter the estimated visual field; and

a movement control section that moves the autonomous mobile apparatus; and

a telescopic section, at a tip of which the attention calling device is provided, wherein

the attention calling control section extends the telescopic section so that the visual field estimating section enters the estimated visual field that is viewable by the moving obstacle.

2. The autonomous mobile apparatus according to claim 1,

wherein the attention calling control section provides at least one of the movement direction and a velocity of the autonomous mobile apparatus to the attention calling device.

3. The autonomous mobile apparatus according to claim 1,

wherein the movement control section creates, when the degree of congestion on the immediately front side of the autonomous mobile apparatus is lower than the predetermined value and a crowded region of which the degree of congestion is the predetermined value or higher is present in an advancing direction of the autonomous mobile apparatus, a movement plan for moving the autonomous mobile apparatus to an immediately front side of the crowded region.

4. A control device comprising:

a movement processing section that creates a movement plan that is information relating to movement of an autonomous mobile apparatus;

a movement control section that moves the autonomous mobile apparatus according to the movement plan created by the movement processing section;

a congestion degree estimating section that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus;

a visual field estimating section that estimates a visual field that is viewable by a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus, calculated by the congestion degree estimating section, is a predetermined value or higher; and

an attention calling control section that calls attention using an attention calling device to enter the estimated visual field; and

a telescopic section, at a tip of which the attention calling device is provided, wherein

the attention calling control section extends the telescopic section so that the visual field estimating section enters the estimated visual field that is viewable by the moving obstacle.

5. The control device according to claim 4,

wherein the movement control section creates, when the degree of congestion on the immediately front side of the autonomous mobile apparatus is lower than the predetermined value and a crowded region of which the degree of congestion is the predetermined value or higher is present in an advancing direction of the autonomous mobile apparatus, a movement plan for moving the autonomous mobile apparatus to an immediately front side of the crowded region.

6. An autonomous mobile method in an autonomous mobile apparatus that performs autonomous movement, comprising the steps of:

calculating the degree of congestion in a movement direction of the autonomous mobile apparatus;

estimating a visual field that is viewable by a passerby when the degree of congestion on an immediately front side of the autonomous mobile apparatus, calculated by the congestion degree estimating section, is a predetermined value or higher; and

moving the autonomous mobile apparatus while calling attention using an attention calling device to enter the estimated visual field; and

providing the attention calling device at a tip of a telescopic section, wherein

the attention calling control section extends the telescopic section so that the visual field estimating section enters the estimated visual field that is viewable by the passerby.

7. The method according to claim 6,

wherein the movement control section creates, when the degree of congestion on the immediately front side of the autonomous mobile apparatus is lower than the predetermined value and a crowded region of which the degree of congestion is the predetermined value or higher is present in an advancing direction of the autonomous mobile apparatus, a movement plan for moving the autonomous mobile apparatus to an immediately front side of the crowded region.

8. An autonomous mobile apparatus comprising:

a congestion degree estimator that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus;

a visual field estimator that estimates a visual field that is viewable by a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus is a predetermined value or higher;

an attention calling controller that calls attention using an attention calling device to enter the estimated visual field;

a movement controller that moves the autonomous mobile apparatus;

a telescopic member, wherein

the attention calling device is disposed a tip of the telescopic member, and

the attention calling controller extends the telescopic member so that the visual field estimator enters the estimated visual field that is viewable by the moving obstacle.

9. The autonomous mobile apparatus according to claim 8,

wherein the attention calling controller provides at least one of the movement direction and a velocity of the autonomous mobile apparatus to the attention calling device.

10. The autonomous mobile apparatus according to claim 8,

wherein the movement controller creates, when the degree of congestion on the immediately front side of the autonomous mobile apparatus is lower than the predetermined value and a crowded region of which the degree of congestion is the predetermined value or higher is present in an advancing direction of the autonomous mobile apparatus, a movement plan for moving the autonomous mobile apparatus to an immediately front side of the crowded region.