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US 12,746,677 B2Granted
Control system, control method, and non-transitory storage medium storing program
AssigneeToyota Jidosha Kabushiki Kaisha
InventorsKei Yoshikawa, Shiro Oda, Susumu Shimizu, Takeshi Matsui
Life of this patent
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Abstract
A control system comprises one or more processors. The one or more processors are configured to extract a feature of a person in an image captured by a camera, classify the person into a preset first group or a preset second group based on the feature, estimate a moving speed of the person belonging to the second group, and switch, based on the moving speed, a mode between a high-load mode for performing a high-load process and a low-load mode for performing a process with a load lower than a load in the high-load mode.
Claims20
A control system comprising one or more processors configured to:
- control a mobile robot to autonomously move in a predetermined facility;
- acquire an image of an area in the predetermined facility captured by a camera;
- extract a feature of a person in the image;
- classify the person into a preset first group or a preset second group based on the feature, wherein a staff member of the predetermined facility is classified into the first group, and a person other than the staff member is classified into the second group;
- estimate a moving speed of the person upon classifying that the person belongs to the second group;
- and
- switch, based on at least the classification of the person, a mode between a high-load mode for performing a high-load process and a low-load mode for performing a process with a load lower than a load in the high-load mode, wherein the one or more processors are further configured to:
- monitor the area in the predetermined facility in the low-load mode when (i) the person belongs to the second group and the moving speed of the person is lower than a threshold speed or (ii) the person belonging to the second group is absent,
- monitor the area in the predetermined facility in the high-load mode when the person belongs to the second group and the moving speed of the person is higher than the threshold speed,
- determine whether the person belonging to the second group has difficulty in walking based on whether the person uses an assisting tool, wherein a person using a cane, an intravenous instillation stand, or a wheelchair is determined to be the person having difficulty in walking;
- determine whether an assistant who assists a walking motion is present near the person upon determining that the person has difficulty in walking;
- switch control on the mobile robot to a high-speed movement mode in a case that the person having difficulty in walking and the assistant are present;
- and
- switch control on the mobile robot to a low-speed movement mode in a case that the person having difficulty in walking is present and the assistant is absent,
- wherein in the high-speed movement mode, the mobile robot moves in the predetermined facility at a first speed, and in the low-speed movement mode, the mobile robot moves in the predetermined facility at a second speed, the first speed being higher than the second speed.
12 more elements
A control method comprising:
- controlling a mobile robot to autonomously move in a predetermined facility;
- acquiring an image of an area in the predetermined facility captured by a camera;
- extracting a feature of a person in the image;
- classifying the person into a preset first group or a preset second group based on the feature, wherein a staff member of the predetermined facility is classified into the first group, and a person other than the staff member is classified into the second group;
- estimating a moving speed of the person upon classifying that the person belongs to the second group;
- and
- switching, based on at least the classification of the person, a mode between a high-load mode for performing a high-load process and a low-load mode for performing a process with a load lower than a load in the high-load mode, wherein the control method further includes:
- monitoring the area in the predetermined facility in the low-load mode when (i) the person belongs to the second group and the moving speed of the person is lower than a threshold speed or (ii) the person belonging to the second group is absent,
- monitoring the area in the predetermined facility in the high-load mode when the person belongs to the second group and the moving speed of the person is higher than the threshold speed,
- determining whether the person belonging to the second group has difficulty in walking based on whether the person uses an assisting tool, wherein a person using a cane, an intravenous instillation stand, or a wheelchair is determined to be the person having difficulty in walking;
- determining whether an assistant who assists a walking motion is present near the person upon determining that the person has difficulty in walking;
- switching control on the mobile robot to a high-speed movement mode in a case that the person having difficulty in walking and the assistant are present;
- and
- switching control on the mobile robot to a low-speed movement mode in a case that the person having difficulty in walking is present and the assistant is absent,
- wherein in the high-speed movement mode, the mobile robot moves in the predetermined facility at a first speed, and in the low-speed movement mode, the mobile robot moves in the predetermined facility at a second speed, the first speed being higher than the second speed.
12 more elements
A non-transitory storage medium storing a program that causes a computer to execute a control method, the control method includes:
- controlling a mobile robot to autonomously move in a predetermined facility;
- acquiring an image of an area in the predetermined facility captured by a camera;
- extracting a feature of a person in the image;
- classifying the person into a preset first group or a preset second group based on the feature, wherein a staff member of the predetermined facility is classified into the first group, and a person other than the staff member is classified into the second group;
- estimating a moving speed of the person upon classifying that the person belongs to the second group;
- and
- switching, based on at least the classification of the person, a mode between a high-load mode for performing a high-load process and a low-load mode for performing a process with a load lower than a load in the high-load mode, wherein the control method further includes:
- monitoring the area in the predetermined facility in the low-load mode when (i) the person belongs to the second group and the moving speed of the person is lower than a threshold speed or (ii) the person belonging to the second group is absent,
- monitoring the area in the predetermined facility in the high-load mode when the person belongs to the second group and the moving speed of the person is higher than the threshold speed,
- determining whether the person belonging to the second group has difficulty in walking based on whether the person uses an assisting tool, wherein a person using a cane, an intravenous instillation stand, or a wheelchair is determined to be the person having difficulty in walking;
- determining whether an assistant who assists a walking motion is present near the person upon determining that the person has difficulty in walking;
- switching control on the mobile robot to a high-speed movement mode in a case that the person having difficulty in walking and the assistant are present;
- and
- switching control on the mobile robot to a low-speed movement mode in a case that the person having difficulty in walking is present and the assistant is absent,
- wherein in the high-speed movement mode, the mobile robot moves in the predetermined facility at a first speed, and in the low-speed movement mode, the mobile robot moves in the predetermined facility at a second speed, the first speed being higher than the second speed.
12 more elements
Dependencies are inferred from the claim text.