Autonomous locomotion apparatus, autonomous locomotion method, and program for autonomous locomotion apparatus
First Claim
1. An autonomous locomotion apparatus which autonomously moves based on a moving path, comprising a control unit,the control unit comprising:
- an environment information acquisition unit that acquires environment information including information about a person or an object in surroundings of the autonomous locomotion apparatus;
a human information acquisition unit that detects the person based on the environment information acquired by the environment information acquisition unit;
a contact probability judgment unit that judges presence or absence of probability of guiding an avoiding operation of the person on condition that there is probability of contact between the person and the autonomous locomotion apparatus based on the environment information at a moment when the person is detected by the human information acquisition unit;
a guide operation generation unit that generates guide operation information which presents a predicted moving path of the autonomous locomotion apparatus to the person on the condition that there is probability of guiding an avoiding operation of the person;
a traveling speed and rotational speed control unit that controls movement of the autonomous locomotion apparatus based on the guide operation information from the guide operation generation unit;
a reaction information acquisition unit that acquires reaction information of the person with respect to a guide operation performed by the traveling speed and rotational speed control unit controlling the movement of the autonomous locomotion apparatus based on the guide operation information; and
a guide operation keeping unit that keeps the guide operation according to the reaction information acquired by the reaction information acquisition unit.
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Abstract
The autonomous locomotion apparatus has a human information acquisition unit which detects a person. When there is probability of contact between the detected person and the autonomous locomotion apparatus based on movement information of the person, the autonomous locomotion apparatus controls a traveling speed or a rotational speed of the autonomous locomotion apparatus to perform a guide operation which presents a path of the autonomous locomotion apparatus which is intended to cause the person to predict, so that it causes the person to avoid the path without giving the person a sense of uneasiness.
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Citations
15 Claims
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1. An autonomous locomotion apparatus which autonomously moves based on a moving path, comprising a control unit,
the control unit comprising: -
an environment information acquisition unit that acquires environment information including information about a person or an object in surroundings of the autonomous locomotion apparatus; a human information acquisition unit that detects the person based on the environment information acquired by the environment information acquisition unit; a contact probability judgment unit that judges presence or absence of probability of guiding an avoiding operation of the person on condition that there is probability of contact between the person and the autonomous locomotion apparatus based on the environment information at a moment when the person is detected by the human information acquisition unit; a guide operation generation unit that generates guide operation information which presents a predicted moving path of the autonomous locomotion apparatus to the person on the condition that there is probability of guiding an avoiding operation of the person; a traveling speed and rotational speed control unit that controls movement of the autonomous locomotion apparatus based on the guide operation information from the guide operation generation unit; a reaction information acquisition unit that acquires reaction information of the person with respect to a guide operation performed by the traveling speed and rotational speed control unit controlling the movement of the autonomous locomotion apparatus based on the guide operation information; and a guide operation keeping unit that keeps the guide operation according to the reaction information acquired by the reaction information acquisition unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An autonomous locomotion method for an autonomous locomotion apparatus to autonomously move based on a moving path, comprising:
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acquiring environment information including information about a person or an object in surroundings of the autonomous locomotion apparatus by an environment information acquisition unit; detecting the person by a human information acquisition unit based on the environment information acquired by the environment information acquisition unit; judging presence or absence of probability of guiding an avoiding operation of the person by a contact probability judgment unit on condition that there is probability of contact between the person and the autonomous locomotion apparatus based on the environment information at a moment when the person is detected by the human information acquisition unit; generating guide operation information which presents a predicted moving path of the autonomous locomotion apparatus to the person by a guide operation generation unit on condition that there is probability of guiding an avoiding operation of the person; controlling movement of the autonomous locomotion apparatus by a traveling speed and rotational speed control unit based on the guide operation information from the guide operation generation unit; acquiring, by a reaction information acquisition unit, reaction information of the person with respect to a guide operation performed by the traveling speed and rotational speed control unit controlling the movement of the autonomous locomotion apparatus based on the guide operation information; and keeping, by a guide operation keeping unit, the guide operation according to the reaction information acquired by the reaction information acquisition unit.
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15. A computer-readable recording medium including a program for an autonomous locomotion apparatus which autonomously moves based on a moving path, wherein
the program causes a computer to function as: -
an environment information acquisition unit that acquires environment information including information about a person or an object in surroundings of the autonomous locomotion apparatus; a human information acquisition unit that detects the person based on the environment information acquired by the environment information acquisition unit; a contact probability judgment unit that judges presence or absence of probability of guiding an avoiding operation of the person on condition that there is probability of contact between the person and the autonomous locomotion apparatus based on the environment information at a moment when the person is detected by the human information acquisition unit; a guide operation generation unit that generates guide operation information which presents a predicted moving path of the autonomous locomotion apparatus to the person on the condition that there is probability of guiding an avoiding operation of the person; a traveling speed and rotational speed control unit that controls movement of the autonomous locomotion apparatus based on the guide operation information from the guide operation generation unit; a reaction information acquisition unit that acquires reaction information of the person with respect to a guide operation performed by the traveling speed and rotational speed control unit controlling the movement of the autonomous locomotion apparatus based on the guide operation information; and a guide operation keeping unit that keeps the guide operation according to the reaction information acquired by the reaction information acquisition unit.
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Specification