Autonomous Mobile Apparatus, Control Device, and Autonomous Mobile Method
First Claim
1. An autonomous mobile apparatus comprising:
- a congestion degree estimating section that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus;
a visual field estimating section that estimates a visual field of a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus is a predetermined value or higher;
an attention calling control section that calls attention using an attention calling device to enter the estimated visual field; and
a movement control section that moves the autonomous mobile apparatus.
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Abstract
A control device capable of providing smooth movement even in a crowded environment is to be provided. The control device includes a movement processing section (101) that creates a movement plan that is information relating to movement of an autonomous mobile apparatus (1); a movement control section (21) that moves the autonomous mobile apparatus (1) according to the movement plan created by the movement processing section (101); a congestion degree estimating section (102) that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus (1); a visual field estimating section (103) that estimates a visual field of a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus (1) is a predetermined value or higher; and an attention calling control section (104) that calls attention using an attention calling device (15) to enter the estimated visual field.
29 Citations
6 Claims
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1. An autonomous mobile apparatus comprising:
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a congestion degree estimating section that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus; a visual field estimating section that estimates a visual field of a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus is a predetermined value or higher; an attention calling control section that calls attention using an attention calling device to enter the estimated visual field; and a movement control section that moves the autonomous mobile apparatus. - View Dependent Claims (2, 3, 4)
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5. A control device comprising:
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a movement processing section that creates a movement plan that is information relating to movement of an autonomous mobile apparatus; a movement control section that moves the autonomous mobile apparatus according to the movement plan created by the movement processing section; a congestion degree estimating section that calculates the degree of congestion in a movement direction of the autonomous mobile apparatus; a visual field estimating section that estimates a visual field of a moving obstacle when the degree of congestion on an immediately front side of the autonomous mobile apparatus, calculated by the congestion degree estimating section, is a predetermined value or higher; and an attention calling control section that calls attention using an attention calling device to enter the estimated visual field.
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6. An autonomous mobile method in an autonomous mobile apparatus that performs autonomous movement, comprising the steps of:
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calculating the degree of congestion in a movement direction of the autonomous mobile apparatus; estimating a visual field of a passerby when the degree of congestion on an immediately front side of the autonomous mobile apparatus, calculated by the congestion degree estimating section, is a predetermined value or higher; and moving the autonomous mobile apparatus while calling attention using an attention calling device to enter the estimated visual field.
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Specification