Safe movement support device
First Claim
1. A safe movement support apparatus, comprising:
- an environmental three-dimensional information acquisition unit for acquiring environmental three-dimensional information corresponding to a state of actual object within a virtual space surrounding a moving body or an assumed movement track relating the moving body with a prescribed finite expanse;
a moving body state information acquisition unit for acquiring moving body state information relating to the moving body; and
a safe movement-enabled space calculation unit for calculating a safe movement-enabled space which is a virtual space with a finite expanse in which the moving body is presumed to be movable safely, based on the environmental three-dimensional information obtained from the environmental three-dimensional information acquisition unit and moving body state information obtained from the moving body state information acquisition unit.
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Abstract
A safe movement support apparatus includes an environmental three-dimensional information acquisition unit 1 for acquiring environmental three-dimensional information corresponding to a state of an actual object within a virtual space surrounding a moving body or an assumed movement track relating the moving body with a prescribed finite expanse; a moving body state information acquisition unit 2 for acquiring moving body state information relating to the moving body; and a safe movement-enabled space calculation unit 3 for calculating a safe movement-enabled space which is a virtual space with a finite expanse in which the moving body is presumed to be movable safely, based on the environmental three dimensional information obtained from the environmental three-dimensional information acquisition unit and moving body state information obtained from the moving body state information acquisition unit.
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Citations
19 Claims
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1. A safe movement support apparatus, comprising:
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an environmental three-dimensional information acquisition unit for acquiring environmental three-dimensional information corresponding to a state of actual object within a virtual space surrounding a moving body or an assumed movement track relating the moving body with a prescribed finite expanse;
a moving body state information acquisition unit for acquiring moving body state information relating to the moving body; and
a safe movement-enabled space calculation unit for calculating a safe movement-enabled space which is a virtual space with a finite expanse in which the moving body is presumed to be movable safely, based on the environmental three-dimensional information obtained from the environmental three-dimensional information acquisition unit and moving body state information obtained from the moving body state information acquisition unit. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13)
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2. A safe movement support apparatus, comprising:
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an environmental three-dimensional information acquisition unit for acquiring environmental three-dimensional information corresponding to a state of actual object within a virtual space surrounding a moving body or an assumed movement track relating the moving body with a prescribed finite expanse;
a texture acquisition unit for acquiring a texture relating to the virtual space;
a moving body state information acquisition unit for acquiring moving body state information relating to a state of the moving body; and
a safe movement-enabled space calculation unit for calculating a safe movement-enabled space which is a virtual space with a finite expanse in which the moving body is presumed to be movable safely, based on environmental three dimensional information obtained from the environmental three-dimensional information acquisition unit, moving body state information obtained from the moving body state information acquisition unit and a texture obtained from the texture acquisition unit. - View Dependent Claims (5, 6, 14)
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3. A safe movement support apparatus, comprising:
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an environmental three-dimensional information acquisition unit for acquiring environmental three-dimensional information corresponding to a state of actual object within a virtual space surrounding a moving body or an assumed movement track relating the moving body with a prescribed finite expanse;
a texture acquisition unit for acquiring a texture relating to the virtual space;
a moving body state information acquisition unit for acquiring moving body state information relating to a state of the moving body;
a safe movement-enabled space calculation unit for calculating a safe movement-enabled space which is a virtual space with a finite expanse in which the moving body is presumed to be movable safely, based on environmental three dimensional information obtained from the environmental three-dimensional information acquisition unit, moving body state information obtained from the moving body state information acquisition unit and a texture obtained from the texture acquisition unit; and
a stable movement path calculation unit for calculating a path on which the moving body is presumed to be movable stably based on the information indicating a safe movement-enabled space obtained from the safe movement-enabled space calculation unit and moving body state information obtained from the moving body state information acquisition unit. - View Dependent Claims (4, 15)
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16. A safe movement support method, comprising the processes of
obtaining environmental three-dimensional information corresponding to a state of actual object within a virtual space surrounding a moving body or an assumed movement track relating the moving body with a prescribed finite expanse and moving body state information relating to a state of the moving body; - and
calculating a safe movement-enabled space which is a virtual space with a finite expanse in which the moving body is presumed to be safely movable, based on the environmental three dimensional information and moving body state information.
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17. A safe movement support method, comprising the processes of
obtaining environmental three-dimensional information corresponding to a state of actual object within a virtual space surrounding a moving body or an assumed movement track relating the moving body with a prescribed finite expanse, a texture relating to the virtual space, and moving body state information relating to a state of the moving body; - and
calculating a safe movement-enabled space which is a virtual space with a finite expanse in which the moving body is presumed to be movable safely, based on the environmental three dimensional information, moving body state information and texture.
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18. A safe movement support method, comprising the processes of
obtaining environmental three-dimensional information corresponding to a state of actual object within a virtual space surrounding a moving body or an assumed movement track relating the moving body with a prescribed finite expanse, a texture relating to the virtual space, and moving body state information relating to a state of the moving body; -
calculating a safe movement-enabled space which is a virtual space with a finite expanse in which the moving body is presumed to be safely movable, based on the environmental three dimensional information, moving body state information and texture; and
calculating a path on which the moving body is presumed to be stably movable based on the information indicating a safe movement-enabled space and moving body state information. - View Dependent Claims (19)
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Specification