# US 2021/0240189 A1 · Mobile device, mobile device control system, method, and program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0240189 A1 - Document ID: US20210240189A1 - Status: Published application - Kind: A1 - Application number: 17/267,329 - Filed: 2019-08-16 - Published: 2021-08-05 - Earliest claimed: 2018-09-05 - Assignees: Sony Corporation - Applicants: Sony Corporation - Inventors: Tatsuma Sakurai - Web page: https://patentgrep.com/patent/US20210240189A1 ## CPC - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) - G01C 21/206: {specially adapted for indoor navigation} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/228: Command input arrangements located on-board unmanned vehicles - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/65: Following a desired speed profile - G06V 40/103: {Static body considered as a whole, e.g. static pedestrian or occupant recognition} - G06V 40/166: {using acquisition arrangements} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract Mobile devices, control systems and programs are disclosed. In one example, a mobile device performs different processing when an approaching object is a human. The mobile device includes a control unit that performs traveling control. It receives input detection information of a sensor on the mobile device and uses that to determine whether an approaching object is a human. In the case where the control unit determines that the object is a human, the mobile device stops after setting an article mounted in the mobile device in a direction of being visible to the human. In the case where the control unit determines that the object is not a human, the control unit stops or backs the mobile device or changes a traveling direction of the mobile device so as to avoid collision with the object. ## Claims ### Claim 1 A mobile device comprising: a control unit configured to perform traveling control of the mobile device, wherein the control unit is configured to receive input detection information of a sensor mounted on the mobile device, determine whether or not an object approaching the mobile device is a human on a basis of the input sensor detection information, and perform control different between a case where the control unit determines that the object is a human and a case where the control unit determines that the object is not a human. ### Claim 2 (depends on 1) The mobile device according to claim 1, wherein the sensor includes a camera, and the control unit determines whether or not the object approaching the mobile device is a human on a basis of a photographed image of the camera. ### Claim 3 (depends on 1) The mobile device according to claim 1, wherein in a case where the control unit determines that the object is a human, the control unit performs control of stopping after setting an article mounted in the mobile device in a direction of being visible to the human. ### Claim 4 (depends on 1) The mobile device according to claim 1, wherein in a case where the control unit determines that the object is a human, the control unit further performs determination processing as to whether or not the human is oriented full face with a face of the human oriented to a mobile device side on a basis of the sensor detection information, and the control unit performs control different between a case where the human is oriented full face and a case where the human is not oriented full face. ### Claim 5 (depends on 4) The mobile device according to claim 4, wherein in a case where the control unit determines that the human is oriented full face with the face of the human oriented to the mobile device side, the control unit approaches the human to a distance specified in advance, and stops after setting an article mounted in the mobile device in a direction of being visible to the human, and in a case where the control unit determines that the human is not oriented full face with the face of the human oriented to the mobile device side, the control unit performs control of stopping after setting the article mounted in the mobile device in the direction of being visible to the human at a position separated from the human by a distance specified in advance or more. ### Claim 6 (depends on 1) The mobile device according to claim 1, wherein in a case where the control unit determines that the object is not a human, the control unit stops or backs the mobile device or changes a traveling direction of the mobile device so as to avoid collision with the object. ### Claim 7 (depends on 1) The mobile device according to claim 1, wherein according to an allowable noise record map on which an allowable noise level corresponding to a position is recorded, the control unit performs traveling speed control according to a traveling position such that a noise level is equal to or lower than the allowable noise level. ### Claim 8 (depends on 7) The mobile device according to claim 7, wherein the control unit refers to the allowable noise record map retained by an external server and performs the traveling control. ### Claim 9 (depends on 7) The mobile device according to claim 7, wherein the control unit performs control of changing a traveling speed according to a usage condition of a room in a vicinity of a traveling route. ### Claim 10 (depends on 7) The mobile device according to claim 7, wherein the control unit performs control of changing a traveling speed according to a kind of traveling surface. ### Claim 11 (depends on 10) The mobile device according to claim 10, wherein the control unit determines the kind of the traveling surface on a basis of an image photographed by a camera and performs the traveling control based on a determination result. ### Claim 12 (depends on 1) The mobile device according to claim 1, wherein the control unit transmits at least one of a request to use moving means on a traveling route of the mobile device or a request to open and close a door to a building management server that performs processing of managing a building in which the mobile device travels. ### Claim 13 (depends on 12) The mobile device according to claim 12, wherein the control unit transmits a request to use an elevator on the traveling route of the mobile device to the building management server and receives identification information of the elevator to be used from the building management server. ### Claim 14 (depends on 12) The mobile device according to claim 12, wherein the control unit transmits a request to pass through a security door on the traveling route of the mobile device to the building management server and performs traveling control of passing through the security door opened by the building management server. ### Claim 15 A mobile device control system comprising: a mobile device; and a building management server, wherein the building management server retains an allowable noise record map on which an allowable noise level corresponding to a position is recorded, and the mobile device performs traveling speed control according to a traveling position such that a noise level is equal to or lower than the allowable noise level according to the allowable noise record map. ### Claim 16 (depends on 15) The mobile device control system according to claim 15, wherein the mobile device transmits at least one of a request to use an elevator on a traveling route of the mobile device or a request to open and close a security door to the building management server, and in response to request reception from the mobile device, the building management server performs processing for enabling usage of the elevator or passage through the security door. ### Claim 17 A mobile device control method performed in a mobile device, the method comprising: by a control unit of the mobile device, receiving input detection information of a sensor mounted on the mobile device; determining whether or not an object approaching the mobile device is a human on a basis of the input sensor detection information; and performing control different between a case where the control unit determines that the object is a human and a case where the control unit determines that the object is not a human. ### Claim 18 A mobile device control method performed in a mobile device control system including a mobile device and a building management server, the method comprising: by the building management server, retaining an allowable noise record map on which an allowable noise level corresponding to a position is recorded; and by the mobile device, performing traveling speed control according to a traveling position such that a noise level is equal to or lower than the allowable noise level according to the allowable noise record map. ### Claim 19 A program for making mobile device control processing performed in a mobile device, the program making a control unit of the mobile device: receive input detection information of a sensor mounted on the mobile device; determine whether or not an object approaching the mobile device is a human on a basis of the input sensor detection information; and perform control different between a case where the control unit determines that the object is a human and a case where the control unit determines that the object is not a human.