Disclosed is a mobile body which plans an avoidance operation of the mobile body and an expected avoidance operation which is expected of a mobile obstacle, thereby improving efficiency of the avoidance operation. A mobile body (1) which moves along an operation target includes mobile obstacle detec
Disclosed is a mobile body which plans an avoidance operation of the mobile body and an expected avoidance operation which is expected of a mobile obstacle, thereby improving efficiency of the avoidance operation. A mobile body (1) which moves along an operation target includes mobile obstacle detection means (6) and (7) for detecting a mobile obstacle in the vicinity of the mobile body (1), approach determination means (15) for determining whether or not the mobile obstacle and the mobile body approach each other within a predetermined interval, and operation planning means (16) for, when the approach determination means (15) determines that the mobile obstacle and the mobile body (1) approach each other within the predetermined interval, planning the avoidance operation of the mobile body (1) and an expected avoidance operation which is expected of the mobile obstacle.
대표청구항▼
1. A mobile body which moves on the basis of an operation target, the mobile body comprising: at least one memory operable to store program code;at least one processor operable to read said program code and operate as instructed by said program code, said program code including:a mobile obstacle det
1. A mobile body which moves on the basis of an operation target, the mobile body comprising: at least one memory operable to store program code;at least one processor operable to read said program code and operate as instructed by said program code, said program code including:a mobile obstacle detector that detects a mobile obstacle in the vicinity of the mobile body;an operation predictor that predicts future operation of the mobile obstacle, on the basis of detection results from the mobile obstacle detector;approach determination code that determines whether or not the mobile obstacle and the mobile body approach each other within a predetermined interval; andoperation planning code that, when the approach determination code determines that the mobile obstacle and the mobile body approach each other within the predetermined interval, plans an avoidance operation of the mobile body and predicts an expected avoidance operation which is expected of the mobile obstacle, on the basis of the operation of the mobile obstacle predicted by the operation predictor and the operation target of the mobile body,wherein the expected avoidance operation is an operation that can be expected of the mobile obstacle to conduct so as to avoid an approach to or contact with the mobile body. 2. The mobile body according to claim 1, further comprising: alert operation planning code that plans an alert operation to the mobile obstacle on the basis of the expected avoidance operation predicted by the operation planning code. 3. The mobile body according to claim 2, further comprising: contact tolerance calculation code that calculates a contact tolerance of the mobile body with respect to the mobile obstacle,wherein the alert operation planning code plans an alert operation including a contact operation to the mobile obstacle on the basis of the contact tolerance calculated by the contact tolerance calculation code. 4. The mobile body according to claim 2, further comprising: priority relationship determination code that, when the approach determination code determines that the mobile obstacle and the mobile body approach each other within the predetermined interval, determines the priority relationship between the mobile obstacle and the mobile body,wherein the alert operation planning code plans the alert operation to the mobile obstacle on the basis of the determination result of the priority relationship determination code. 5. The mobile body according to claim 2, further comprising: affinity calculation code that, when the mobile obstacle is a human, calculates an affinity of the human for the mobile body,wherein the alert operation planning code plans the alert operation to the mobile obstacle on the basis of the affinity calculated by the affinity calculation code. 6. The mobile body according to claim 2, further comprising: contact tolerance calculation unit for calculating contact tolerance of the mobile body with respect to the mobile obstacle,wherein the alert operation planning code plans an alert operation including a contact operation to the mobile obstacle on the basis of the contact tolerance calculated by the contact tolerance calculation unit. 7. The mobile body according to claim 1, further comprising: contact tolerance calculation code that calculates a contact tolerance of the mobile body with respect to the mobile obstacle,wherein the operation planning code plans the avoidance operation of the mobile body and predicts the expected avoidance operation which is expected of the mobile obstacle on the basis of the contact tolerance calculated by the contact tolerance calculation code. 8. The mobile body according to claim 7, further comprising: priority relationship determination code that when the approach determination code determines that the mobile obstacle and the mobile body approach each other within the predetermined interval, determines the priority relationship between the mobile obstacle and the mobile body,wherein the contact tolerance calculation code calculates the contact tolerance on the basis of the determination result of the priority relationship determination code. 9. The mobile body according to claim 1, further comprising: priority relationship determination code that, when the approach determination code determines that the mobile obstacle and the mobile body approach each other within the predetermined interval, determines the priority relationship between the mobile obstacle and the mobile body,wherein the operation planning code plans the avoidance operation of the mobile body and predicts the expected avoidance operation which is expected of the mobile obstacle on the basis of the determination result of the priority relationship determination code. 10. The mobile body according to claim 1, further comprising: affinity calculation code that when the mobile obstacle is a human, calculates an affinity of the human for the mobile body,wherein the operation planning code plans the avoidance operation of the mobile body and predicts the expected avoidance operation which is expected of the human on the basis of the affinity calculated by the affinity calculation code. 11. The mobile body according to claim 1, further comprising: operation target generation code that generates the operation target of the mobile body; andoperation prediction code that predicts the operation of the mobile obstacle detected by the mobile obstacle detector,wherein the approach determination code determines whether or not the mobile obstacle and the mobile body approach each other within the predetermined interval on the basis of the operation target generated by the operation target generation code and the operation of the mobile obstacle predicted by the operation prediction code. 12. The mobile body according to claim 11, wherein the operation planning code corrects the avoidance operation and the expected avoidance operation on the basis of the deviation between the planned avoidance operation and the operation target generated by the operation target generation code and the deviation between the predicted expected avoidance operation and the operation of the mobile obstacle predicted by the operation prediction code. 13. The mobile body according to claim 1, wherein the operation planning code plans a plurality of operation candidates of the mobile body based on the avoidance operation of the mobile body and predicts the expected avoidance operation which is expected of the mobile obstacle, predicts the operation results of the plurality of operation candidates, and from among the plurality of operation candidates, selects an operation candidate for which it is predicted that the operation result will satisfy a predetermined constraint condition. 14. The mobile body according to claim 1, wherein the mobile body is an autonomous mobile robot. 15. The mobile body according to claim 1, wherein the mobile body is a manipulator robot. 16. The mobile body according to claim 1, wherein the mobile body is a personal mobility device. 17. The mobile body according to claim 1, further comprising: alert operation planning unit for planning an alert operation to the mobile obstacle on the basis of the expected avoidance operation predicted by the operation planning code. 18. The mobile body according to claim 1, further comprising: contact tolerance calculation unit for calculating contact tolerance of the mobile body with respect to the mobile obstacle,wherein the operation planning code plans the avoidance operation of the mobile body and predicts the expected avoidance operation which is expected of the mobile obstacle on the basis of the contact tolerance calculated by the contact tolerance calculation unit. 19. The mobile body according to claim 1, further comprising: priority relationship determination unit for, when the approach determination code determines that the mobile obstacle and the mobile body approach each other within the predetermined interval, determining the priority relationship between the mobile obstacle and the mobile body,wherein the operation planning code plans the avoidance operation of the mobile body and predicts the expected avoidance operation which is expected of the mobile obstacle on the basis of the determination result of the priority relationship determination unit. 20. The mobile body according to claim 1, further comprising: a concessional operation planning code that corrects the avoidance operation and the expected avoidance operation on the basis of a deviation between the planned avoidance operation and the operation target generated by a robot operation target generation code and a deviation between a predicted expected avoidance operation and an operation of a human predicted by a human operation prediction code. 21. The mobile body according to claim 1, further comprising: a human operation prediction code that recognizes a traveling direction and a speed of a human on the basis of positional information obtained by the mobile body and predicting a future operation of the human when maintaining a traveling direction and movement speed,wherein if an operational interference is determined between the human and the mobile body a concessional operation is planned based on an avoidance operation of the robot and a predicted avoidance operation of the human; andthe mobile body executes an alert operation and an avoidance operation based on the predicted avoidance operation of the human. 22. A mobile body which moves on the basis of an operation target, the mobile body comprising: a mobile obstacle detection unit for detecting a mobile obstacle in the vicinity of the mobile body;at least one memory operable to store program code;at least one processor operable to read said program code and operate as instructed by said program code, said program code including:an operation predictor that predicts future operation of the mobile obstacle, on the basis of detection results from the mobile obstacle detection unit;approach determination unit for determining whether or not the mobile obstacle and the mobile body approach each other within a predetermined interval; andoperation planning unit for, when the approach determination unit determines that the mobile obstacle and the mobile body approach each other within the predetermined interval, plans an avoidance operation of the mobile body and predicts an expected avoidance operation which is expected of the mobile obstacle, on the basis of the operation of the mobile obstacle predicted by the operation predictor and the operation target of the mobile body,wherein the expected avoidance operation is an operation that can be expected of the mobile obstacle to conduct so as to avoid an approach to or contact with the mobile body.
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이 특허에 인용된 특허 (13)
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