Running information generating apparatus of autonomous running apparatus, running information generating method, running information generating program, and autonomous running apparatus
First Claim
1. A running information generating apparatus of an autonomous running apparatus comprising:
- a position obtaining unit that obtains a position of a moving person in a building with the position being related to every predetermined time or an amount of time;
a moving person identifying unit that identifies a type of the moving person obtained from the position obtaining unit;
a position history database that records, in chronological order, the position and the type of the moving person obtained by the position obtaining unit and the moving person identifying unit, respectively;
a movement information calculator that calculates a moving direction and a moving speed of the moving person from information in the position history database;
an autonomous running apparatus database that records running information for making the autonomous running apparatus that runs along a route preset in the building run from a first position to a second position;
an approach time calculator that calculates an approach time at which the autonomous running apparatus and the moving person approach to each other within a predetermined distance from the position of the moving person obtained by the position obtaining unit, the moving direction and the moving speed of the moving person calculated by the movement information calculator, and the running information recorded in the autonomous running apparatus database;
an environment database that records a position of a still object present in the building together with information about the moving person who tends to gaze at the still object;
a gaze position obtaining unit that obtains a gaze position of the moving person based on the position and the type of the moving person, the moving direction of the moving person, and the position of the still object;
a gaze region calculator that calculates a gaze region of the moving person based on the position and the type of the moving person, the moving direction of the moving person, and the gaze position; and
a running information generator that generates the running information for making the autonomous running apparatus run into the gaze region calculated by the gaze region calculator at a predetermined time earlier than the approach time calculated by the approach time calculator based on the position of the still object, the approach time, and the gaze region.
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Accused Products
Abstract
A movement information calculator calculates a moving direction and a speed of the moving person from a position history database. An approach time calculator calculates an approach time at which an autonomous running apparatus and the moving person approach to each other within a predetermined distance from the moving person'"'"'s position, moving direction, and speed, and the running information. A gaze position obtaining unit obtains a moving person'"'"'s gaze position from the moving person'"'"'s position and moving direction, and the position of an obstacle recorded in an obstacle database. A gaze region calculator calculates a moving person'"'"'s gaze region from the moving person'"'"'s position, moving direction, and gaze position. A running information generator generates running information for making the autonomous running apparatus run to the gaze region at a predetermined time earlier than the approach time from the obstacle'"'"'s position, the approach time, and the gaze region.
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Citations
19 Claims
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1. A running information generating apparatus of an autonomous running apparatus comprising:
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a position obtaining unit that obtains a position of a moving person in a building with the position being related to every predetermined time or an amount of time; a moving person identifying unit that identifies a type of the moving person obtained from the position obtaining unit; a position history database that records, in chronological order, the position and the type of the moving person obtained by the position obtaining unit and the moving person identifying unit, respectively; a movement information calculator that calculates a moving direction and a moving speed of the moving person from information in the position history database; an autonomous running apparatus database that records running information for making the autonomous running apparatus that runs along a route preset in the building run from a first position to a second position; an approach time calculator that calculates an approach time at which the autonomous running apparatus and the moving person approach to each other within a predetermined distance from the position of the moving person obtained by the position obtaining unit, the moving direction and the moving speed of the moving person calculated by the movement information calculator, and the running information recorded in the autonomous running apparatus database; an environment database that records a position of a still object present in the building together with information about the moving person who tends to gaze at the still object; a gaze position obtaining unit that obtains a gaze position of the moving person based on the position and the type of the moving person, the moving direction of the moving person, and the position of the still object; a gaze region calculator that calculates a gaze region of the moving person based on the position and the type of the moving person, the moving direction of the moving person, and the gaze position; and a running information generator that generates the running information for making the autonomous running apparatus run into the gaze region calculated by the gaze region calculator at a predetermined time earlier than the approach time calculated by the approach time calculator based on the position of the still object, the approach time, and the gaze region. - View Dependent Claims (6, 8, 10, 12, 13, 15, 16, 17)
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2. A running information generating apparatus of an autonomous running apparatus comprising:
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a position obtaining unit that obtains a position of a moving person in a wheelchair in a building with the position being related to every predetermined time or amount of time; a position history database that records the position of the moving person obtained by the position obtaining unit in chronological order; a movement information calculator that calculates a moving direction and a moving speed of the moving person from information in the position history database; an autonomous running apparatus database that records running information for making the autonomous running apparatus that runs along a route preset in the building run from a first position to a second position; an approach time calculator that calculates an approach time at which the autonomous running apparatus and the moving person approach to each other within a predetermined distance, from the position of the moving person obtained by the position obtaining unit, the moving direction and the moving speed of the moving person calculated by the movement information calculator, and the running information recorded in the autonomous running apparatus database; an obstacle database that records a position of an obstacle in the building; a gaze position obtaining unit that obtains a gaze position of the moving person based on the position of the moving person, the moving direction of the moving person, and the position of the obstacle; a gaze region calculator that calculates a gaze region of the moving person based on the position of the moving person, the moving direction of the moving person, and the gaze position; and a running information generator that generates the running information for making the autonomous running apparatus run into the gaze region calculated by the gaze region calculator at a predetermined time earlier than the approach time calculated by the approach time calculator based on the position of the obstacle, the approach time, and the gaze region. - View Dependent Claims (3, 4, 5, 7, 9, 11, 14)
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18. A running information generating method of an autonomous running apparatus comprising:
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obtaining, by a position obtaining unit, a position of a moving person in a building with the position being related to every predetermined time or amount of time; identifying, by a moving person identifying unit, a type of the moving person obtained from the position obtaining unit; recording the position and the type of the moving person obtained by the position obtaining unit and the moving person identifying unit, in a position history database in chronological order; calculating, by a movement information calculator, a moving direction and a moving speed of the moving person from information in the position history database; recording, in an autonomous running apparatus database, running information for making the autonomous running apparatus that runs along a route preset in the building run from a first position to a second position; calculating, by an approach time calculator, an approach time at which the autonomous running apparatus and the moving person approach to each other within a predetermined distance from the position of the moving person obtained by the position obtaining unit, the moving direction and the moving speed of the moving person calculated by the movement information calculator, and the running information recorded in the autonomous running apparatus database; recording, in an environment database, a position of a still object present in the building together with information about the moving person who tends to gaze at the still object; obtaining, by a gaze position obtaining unit, a gaze position of the moving person based on the position and the type of the moving person, the moving direction of the moving person, and a position of the still object; calculating, by a gaze region calculator, a gaze region of the moving person based on the position and the type of the moving person, the moving direction of the moving person, and the gaze position; and generating, by a running information generator, the running information for making the autonomous running apparatus run into the gaze region calculated by the gaze region calculator at a predetermined time earlier than the approach time calculated by the approach time calculator based on the position of the still object, the approach time, and the gaze region. - View Dependent Claims (19)
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Specification