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。