MOVING APPARATUS, MOVING METHOD OF MOVING APPARATUS, AND MOVEMENT CONTROL PROGRAM OF MOVING APPARATUS
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Abstract
A moving apparatus includes a route preparing function unit, a moving function unit, an obstacle detecting function unit, an obstacle removal requesting function unit, an obstacle judging function unit, a request target detecting function unit and an obstacle selecting function unit. Here, the route preparing function unit prepares a route to a destination. The moving function unit moves along the route. The obstacle detecting function unit detects obstacles that interfere in the movement. Here, when the obstacles exist on the route, the route preparing function unit tries to prepare a different route from the route. When the different route exists, the moving function unit tries to move to the destination along the different route. The obstacle removal requesting function unit requests the outside to remove the obstacles outside the route, when the different route does not exist. The obstacle judging function unit judges existence of at least one removable obstacle that can be removed from the route among the obstacles detected by the obstacle detecting function unit. The request target detecting function unit detects at least one request capable target who is capable of being requested to remove the removable obstacle by the obstacle removal requesting function unit, in an outside. The obstacle selecting function unit, when there is a plurality of removable obstacles as the at least one removable obstacle, selectively determine a removal target obstacle that is an obstacle whose removal is requested by the obstacle removal requesting function unit from the plurality of removable obstacles.
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Citations
66 Claims
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1-33. -33. (canceled)
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34. A moving apparatus comprising:
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a route preparing function unit configured to prepare a route to a destination; a moving function unit configured to move along said route; an obstacle detecting function unit configured to detect obstacles that interfere in said movement, wherein said route preparing function unit tries to prepare a different route from said route when said obstacles exist on said route, and said moving function unit tries to move to said destination along said different route when said different route exists; an obstacle removal requesting function unit configured to request an outside to remove said obstacles outside said route when said different route does not exist; an obstacle judging function unit configured to judge existence of at least one removable obstacle that can be removed from said route among said obstacles detected by said obstacle detecting function unit; a request target detecting function unit configured to detect at least one request capable target who is capable of being requested to remove said removable obstacle by said obstacle removal requesting function unit, in said outside; and an obstacle selecting function unit configured to, when said at least one removable obstacle and said at least one request capable target exist, selectively determine a combination of a removal target obstacle that is an obstacle whose removal is requested by said obstacle removal requesting function unit and a request target who is requested to remove said removal target obstacle. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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45. A moving method of a moving apparatus, comprising:
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(a) a route preparing step of preparing a route to a destination by a route preparing function unit; and (b) a moving step of trying to move along said route by a moving function unit, wherein said moving step (b) includes; (b-1) an obstacle detecting step of trying to detect obstacles by an obstacle detecting function unit, (b-2) a different route preparing step of trying to prepare a different route from said route by said route preparing function unit, when said obstacles exist on said route in said obstacle detecting step (b-1), (b-3) a step of trying to move to said destination along said different route by said moving function unit, when said different route exists in said different route preparing step (b-2), and (b-4) an obstacle removal requesting step of requesting an outside to remove said obstacles outside said route by an obstacle removal requesting function unit, when said different route does not exist in said different route preparing step (b-2), wherein said obstacle removal requesting step (b-4) includes; (b-4-a) an obstacle judging step of judging existence of at least one removable obstacle that can be removed from on said route among said obstacles detected by said obstacle detecting function unit, by an obstacle judging function unit, (b-4-b) a request target detecting step of detecting at least one request capable target who is capable of being requested to remove said removable obstacle, in said outside by a request target detecting function unit, and (b-4-c) an obstacle selecting step of, when said at least one removable obstacle in said obstacle judging step (b-4-a) and said at least one request capable target in said request target detecting step (b-4-b) exist, selectively determines a removal target obstacle that is an obstacle whose removal is requested by said obstacle removal requesting function unit and a request target who is requested to remove said removal target obstacle by an obstacle selecting function unit. - View Dependent Claims (46, 47, 48, 49, 50, 51, 52, 53, 54, 55)
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56. A movement control program of a moving apparatus, which is computer-readable and operable to control a computer to perform a moving method of a moving apparatus, said moving method comprising:
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(a) a route preparing step of preparing a route to a destination by a route preparing function unit; and (b) a moving step of trying to move along said route by a moving function unit, wherein said moving step (b) includes; (b-1) an obstacle detecting step of trying to detect obstacles by an obstacle detecting function unit, (b-2) a different route preparing step of trying to prepare a different route from said route by said route preparing function unit, when said obstacles exist on said route in said obstacle detecting step (b-1), (b-3) a step of trying to move to said destination along said different route by said moving function unit, when said different route exists in said different route preparing step (b-2), and (b-4) an obstacle removal requesting step of requesting an outside to remove said obstacles outside said route by an obstacle removal requesting function unit, when said different route does not exist in said different route preparing step (b-2), wherein said obstacle removal requesting step (b-4) includes; (b-4-a) an obstacle judging step of judging existence of at least one removable obstacle that can be removed from on said route among said obstacles detected by said obstacle detecting function unit, by an obstacle judging function unit, (b-4-b) a request target detecting step of detecting at least one request capable target who is capable of being requested to remove said removable obstacle, in said outside by a request target detecting function unit, and (b-4-c) an obstacle selecting step of, when said at least one removable obstacle in said obstacle judging step (b-4-a) and said at least one request capable target in said request target detecting step (b-4-b) exist, selectively determines a removal target obstacle that is an obstacle whose removal is requested by said obstacle removal requesting function unit and a request target who is requested to remove said removal target obstacle by an obstacle selecting function unit. - View Dependent Claims (57, 58, 59, 60, 61, 62, 63, 64, 65, 66)
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Specification