公开(公告)号：US20150234383A1

公开(公告)日：2015-08-20

申请号：US14702094

申请日：2015-05-01

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Toru TANIGAWA ,  Jun OZAWA ,  Katsuyoshi YAMAGAMI ,  Eiichi NAITO

IPC: G05D1/02

CPC classification number: G05D1/0246 ,  G05D1/028 ,  G05D2201/0206 ,  Y10S901/01 ,  Y10S901/47

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.

Abstract translation: 运动信息计算器从位置历史数据库计算移动人物的移动方向和速度。 接近时间计算器计算自动运行装置和移动人物在距离移动人的位置，移动方向和速度的预定距离内彼此接近的接近时间以及运行信息。 注视位置获取单元从移动人的位置和移动方向获取移动者的注视位置，并且将障碍物的位置记录在障碍物数据库中。 注视区域计算器从移动人物的位置，移动方向和注视位置计算移动人物的注视区域。 运行信息生成器生成运行信息，使自主运行装置在比障碍物的位置，接近时间和注视区域的接近时间早的预定时间运行到目视区域。

公开(公告)号：US20150100158A1

公开(公告)日：2015-04-09

申请号：US14568551

申请日：2014-12-12

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Toru TANIGAWA ,  Jun OZAWA ,  Yumi WAKITA ,  Katsuyoshi YAMAGAMI ,  Eiichi NAITO

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  G05B2219/39135 ,  G05B2219/40201 ,  G05D1/0212 ,  G05D1/0246 ,  G05D2201/0211 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/49

Abstract: In a running control method of a running apparatus, person moving direction and speed are estimated based on a person position history for predetermined time. It is decided whether contact with a person is likely to be made based on the estimation and running information about the running apparatus. When it is decided that the contact is likely to be made, a first route where the running apparatus avoids the person is generated for controlling running of the running apparatus therealong. It is decided whether the person has the intention to contact with the running apparatus based on the decision in the contact possibility deciding unit after the running along the first route. When it is decided that the person has the contact intention, a second route where the running apparatus approaches the person is generated for controlling the running of the running apparatus therealong.

Abstract translation: 在运行装置的运行控制方法中，基于人员位置历史来预测人的移动方向和速度预定时间。 根据关于运行装置的估计和运行信息，决定是否可能进行与人的联系。 当决定可能进行接触时，生成运行装置避开人的第一路径，以便控制运行装置的运行。 基于在沿着第一路线行驶之后的接触可能性判定单元中的判定，决定该人是否有意与运行装置接触。 当决定该人具有接触意图时，生成运行装置接近人的第二路径，用于控制运行装置的运行。