US 11,657,634 B2
Control system, control method, and program
Tomohisa Takai, Nagoya (JP); Yuhei Yamaguchi, Toyota (JP); Satoshi Toyoshima, Okazaki (JP); Yuta Watanabe, Toyota (JP); Tetsuya Taira, Nagakute (JP); Mikio Honda, Toyota (JP); Shiro Oda, Anjo (JP); and Nobuhisa Otsuki, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 12, 2020, as Appl. No. 17/96,183.
Claims priority of application No. JP2019-212383 (JP), filed on Nov. 25, 2019.
Prior Publication US 2021/0157318 A1, May 27, 2021
Int. Cl. G05D 1/00 (2006.01); G06V 40/10 (2022.01); G05D 1/02 (2020.01); G06V 20/10 (2022.01); G06V 10/82 (2022.01); G06V 10/44 (2022.01); G06V 10/50 (2022.01)
CPC G06V 40/10 (2022.01) [G05D 1/0088 (2013.01); G05D 1/0223 (2013.01); G05D 1/0231 (2013.01); G06V 10/454 (2022.01); G06V 10/50 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01)] 8 Claims
OG exemplary drawing
 
1. A control system configured to control an operation mode of a mobile robot that autonomously moves in a predetermined facility, the control system comprising:
a feature detection unit configured to detect features of clothing of a person who is present in the vicinity of the mobile robot;
a classifying unit configured to classify the person into a first group, which is a group of non-staff members of the facility, or a second group, which is a group of staff members of the facility, based on the features of the clothing; and
a system controller configured to select a first operation mode when the person who belongs to the first group is present in the vicinity of the mobile robot and select a second operation mode that is different from the first operation mode when the person who belongs to the first group is not present in the vicinity of the mobile robot, thereby controlling the mobile robot, wherein
the system controller sets a second moving speed of the mobile robot in the second operation mode to be higher than a first moving speed of the mobile robot in the first operation mode, sets the mobile robot to be unable to get on an elevator in the first operation mode, and sets the mobile robot to be able to get on the elevator in the second operation mode, and
when the non-staff member who belongs to the first group is not present in the vicinity of the mobile robot but the density of the staff members who belong to the second group in the vicinity of the mobile robot is higher than a predetermined density, the system controller sets the moving speed to be lower than the second moving speed and selects a third operation mode that is different from the second operation mode where the mobile robot is set to be able to get on the elevator.