| CPC G05D 1/0221 (2013.01) [B25J 9/163 (2013.01); G05B 19/4155 (2013.01); G06N 20/00 (2019.01); G05B 2219/50391 (2013.01)] | 8 Claims |
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1. A moving range setting system for setting a moving range where a mobile body is movable, the moving range setting system comprising:
an environment information acquisition unit configured to acquire environment information of an environment around a self-position estimated by the mobile body;
a computing apparatus configured to:
store, in a storage unit, an initial entry determination setting result indicating the moving range of the mobile body, including an entry prohibited area where entry of the mobile body is prohibited or a first use area where the mobile body is usable;
set an initial entry determination condition by performing learning processing with training data that is confirmed entry determination result data to which a label selected by an initial entry determination setting has been set, from among confirmed entry determination result data for which a label indicating the entry prohibited area of the mobile body or a label indicating a second use area to which the entry prohibited area belongs has been set in advance, and store the initial entry determination condition in the storage unit;
input the self-position and the environment information into the initial entry determination condition and obtain an entry determination result data that is a result of an entry determination as to whether the mobile body is permitted to enter an area identified with the self-position and the environment information; and
store corrective information in the storage device, in a state of being associated with the environment information acquired at the self-position;
an output device, including a display screen, configured to output the entry determination result data and the environment information, including displaying an image;
an input device, including at least one of a touch screen, a keyboard, and a mouse, configured to receive the initial entry determination setting and the corrective information regarding the initial entry determination setting result and/or the entry determination condition, wherein the initial entry determination setting is received before the use of the mobile body; and
a server configured to perform learning that includes updating of the entry determination condition stored in the storage unit, using the corrective information stored in the storage unit, to set the moving range of the mobile body of which the movement is controlled, in accordance with the entry determination result;
wherein the mobile body includes a movement control unit configured to cause the mobile body to enter the area determined that the entry is permitted, based on the entry determination condition updated, and configured to cause the mobile body to detour the area determined that the entry is prohibited, based on the entry determination condition updated;
wherein the learning processing of the entry determination condition determines a plurality of variables consisting of weighting coefficients and shift quantities using iterative calculations to reduce output error to obtain a function formula which takes a plurality of variations of the environmental information including the image as input and outputs the entry determination result of determining whether or not the mobile body can be entered;
wherein the environment information acquisition unit acquires auxiliary environment information of an environment around the mobile body, the auxiliary environment information being input to the entry determination condition in conjunction with the environment information;
wherein the computing apparatus outputs, in addition to the environment information, an entry determination result that is a result of an entry determination as to whether the entry of the mobile body is permitted, the entry determination result being obtained by inputting the auxiliary environment information to the entry determination condition; and
wherein the auxiliary environment information includes information on illuminance around the mobile body, the illuminance being measured by an illuminance meter in the mobile body, or information on a distance to a target object, the distance being measured by a distance meter in the mobile body, at a position where the environment information acquisition unit acquires the environment information.
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