JP6402429B2 - Moving body - Google Patents

Description

  The present invention relates to a moving body, and more particularly, to a moving body in which a situation that disturbs a user moving forward is suppressed.

  Patent Document 1 discloses a moving body that moves so as not to leave the user while avoiding surrounding obstacles. Patent Document 2 describes an autonomous mobile device that autonomously moves with a user.

JP 2009-151382 A JP 2007-334500 A

  When the moving body moves together with the user, the moving body may give an uncomfortable feeling to the user's walking if the moving body is not sufficiently separated from the user. However, when the distance between the moving body and the user is more than necessary, the moving body may become unreliable for the user. In addition, there is a possibility that the moving body becomes an obstacle to the people around. The above Patent Documents 1 and 2 do not take into consideration the possibility that a mobile object or an autonomous mobile device will interfere with a user walking.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a moving body in which a situation that disturbs a user who moves forward is suppressed.

Means for Solving the Problems and Effects of the Invention

In order to achieve this object, according to the moving body of the first aspect, the movement of the user's foot moving forward is predicted by the prediction unit based on the user's situation detected by the user detection unit. Based on the movement of the user's right foot or left foot, which is predicted by the prediction means , the moving target position of the moving body is directed forward of the foot opposite to the stepping foot. Set to move . The moving body moves toward the set movement target position by the movement control means. Thereby, a moving body can be moved to the leg of the side which does not step on with respect to the user who advances. Therefore, since it can suppress that a mobile body obstructs a motion of a user's foot | leg, the condition which disturbs the user who moves forward is suppressed.

According to the moving body described in claim 2 , in addition to the effect of claim 1 , the following effect is achieved. The movement target position is set so that the movement locus of the moving body swells forward with respect to the user. Therefore, when a mobile body crosses the front of a user, it can suppress contacting the user who advances.

According to the moving body described in claim 3, the movement of the user's foot moving forward is predicted by the prediction unit based on the user's situation detected by the user detection unit. When the movement target position of the moving body is stepping on one of the user's right foot or left foot, the moving body moves from the front of the foot different from the stepped foot toward the front of the grounding position of the stepped foot. moving, at the timing of the nearby stepping foot is grounded, it is by the Hare set to reach the front of the ground position of the stepped foot. Therefore, the moving body traverses the front of the foot as an axis without stepping and is moved to the front of the ground contact position of the stepped foot, so that the moving body contacts the user's foot in a situation where the moving body crosses the front of the user Can be suppressed.

According to the moving body of claim 4 , in addition to the effect of claim 3 , the following effect is provided. One of the user's right foot and left foot is set as a reference foot. When an object is detected in front of the reference foot by the surrounding state detection means, the moving body moves from the front of the reference foot to the front of the ground contact position different from the reference foot during the stepping of the foot different from the reference foot. The movement target position is set so as to reach the front of the ground contact position of the foot different from the reference foot at a timing near the time when the foot different from the reference foot contacts the ground. Therefore, when an object is detected in front of the reference foot, the moving body is moved to the side of the foot different from the reference foot, so that the moving body can be prevented from contacting the object.

According to the moving body of the fifth aspect , in addition to the effect produced by any one of the first to fourth aspects, the following effect is produced. Based on the user's situation detected by the user detection means, the rhythm and stride to move the foot when the user moves forward is calculated. Then, based on the calculated rhythm and stride, the movement of the user's foot is predicted. Therefore, the motion of the foot can be predicted by a relatively simple calculation.

It is a schematic diagram which shows the external appearance of a moving body. It is a block diagram illustrating a schematic electrical configuration of a moving object. It is a flowchart which shows a state detection process. It is a flowchart which shows a relative position control process. It is a schematic diagram which shows the example of the movement target position which expands the relative distance of a user and a moving body, while a user steps out a reference | standard foot. It is a schematic diagram which shows an example of the movement target position calculated when an object is detected ahead of a user's reference | standard foot. It is a schematic diagram for demonstrating a modification. It is a schematic diagram for demonstrating a modification.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic diagram showing an appearance of a moving body 100 that is an embodiment of the moving body of the present invention. The moving body 100 functions as a device that supports the movement of the user 150 by autonomously moving around the front of the moving user 150. Although details will be described later, the moving body 100 of the present embodiment is configured such that the movement does not interfere with the moving user 150.

  Note that “the front periphery of the user 150”, which is the movement range of the moving body 100, is, for example, a range of 180 degrees in front of the user 150 and centering on the user 150. Or it is good also in the range of a user's visual field. In addition, the distance between the moving body 100 and the user 150 is not less than a distance (for example, about 40 cm) that should be secured so that other objects and others do not enter, and is a natural distance in that it moves with the user 150. (For example, about 70 cm), the distance is set to be within a range set not to exceed.

  As shown in FIG. 1, the moving body 100 includes a main body 101, wheels 102, and a display unit 103. The main body 101 is formed in a substantially cylindrical shape. The shape of the main body 101 is not limited to a substantially cylindrical shape, and various shapes can be adopted. A plurality of imaging devices (not shown) for imaging the periphery of the user 150 or the moving body 100 are provided around the main body 101.

  The wheel 102 is configured as an omnidirectional wheel that can move in all directions. Therefore, the moving body 100 can smoothly move in all directions. In the present embodiment, three wheels 102 are provided, but the number of wheels 102 is not limited to three, and an appropriate number can be adopted.

  The display unit 103 includes a display such as a liquid crystal display device, and transmits information to the user 150 by display on the display. In the example illustrated in FIG. 1, the display of the display unit 103 is provided on a surface facing the user 150. The display of the display unit 103 is configured as a touch panel, and can input an instruction from the user 150 to the moving body 100.

Figure 2 is a block diagram illustrating a schematic electrical configuration of the mobile unit 100. The moving body 100 includes a sensing unit 10, a control unit 20, a driving unit 30, and a human machine interface (hereinafter referred to as “HMI”) unit 40.

  The sensing unit 10 detects the state of the user 150 (hereinafter referred to as “user state”) and the state around the mobile object 100 and the user (hereinafter referred to as “peripheral state”). The sensing unit 10 that detects the user state is an example of a user detection unit in the present invention. The sensing unit 10 that detects the peripheral state is an example of the peripheral state detection means in the present invention.

  The sensing unit 10 includes, for example, a plurality of imaging devices provided around the main body unit 101, various sensor devices such as millimeter waves and lasers, and the like. As the imaging device, for example, a camera device such as a CCD (Charge Coupled Device) camera or a CMOS (Complementary Metal Oxide Semiconductor) camera can be employed. An image pickup apparatus having a range finder may be employed.

  The sensing unit 10 outputs the result detected by the sensing unit 10 to the control unit 20. More specifically, the sensing unit 10 outputs a captured image targeted for the user 150, a detection result by the radar, and the like to the control unit 20 as a detection result of the user state. On the other hand, the sensing unit 10 outputs a captured image targeting the periphery of the moving body 100 and the user 150, a detection result by the radar, and the like to the control unit 20 as a detection result of the peripheral state.

  The control unit 20 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and functions as a control device that controls the entire mobile unit 100. A program for realizing processing described below with reference to FIGS. 3 and 4 is stored in the ROM of the control unit 20 and executed by the CPU of the control unit 20. The control unit 20 generates a control signal corresponding to the input from the sensing unit 10 and outputs the control signal to the drive unit 30 or the HMI unit 40.

  The drive unit 30 includes a wheel 102 and a motor serving as a drive source for the wheel 102. A control signal is input to the drive unit 30 from the control unit 20. When the control signal is input to the drive unit 30, the motor rotates based on the input signal, and the wheel 102 is driven by the rotation of the motor as power.

  The HMI unit 40 is an interface for outputting information to the user 150 and allowing the user 150 to input an instruction. The display of the display unit 103 is an example of the HMI unit 40. Note that a speaker that outputs sound and a microphone that inputs sound may be provided as the HMI unit 40. The HMI unit 40 outputs information according to the control signal input from the control unit 20. On the other hand, when an instruction is input from the user 150 to the HMI unit 40, the HMI unit 40 outputs a control signal corresponding to the input to the control unit 20.

FIG. 3 is a flowchart illustrating a state detection process executed by the CPU of the control unit 20 of the moving body 100 having the above-described configuration. This process is periodically executed every predetermined time (for example, every 0.1 second). This process is a process for detecting the state of the user and the surroundings, and each parameter represented by a moving body coordinate system (that is, a coordinate system based on the moving body 100) based on an input from the sensing unit 10. Is converted into a user coordinate system (that is, a coordinate system based on the user 150).

The CPU of the control unit 20 (hereinafter simply referred to as “CPU”) acquires parameters in the moving body coordinate system based on the input from the sensing unit 10 (S101). The parameters acquired in S101 are roughly classified into parameters indicating the user state and parameters indicating the peripheral state.

  The parameters indicating the user state include, for example, the relative position (x0, y0) of the user 150 with respect to the moving body 100, the relative speed v0 of the user 150 with respect to the moving body 100, the relative moving direction θ0 of the user 150 with respect to the moving body 100, and the moving body 100. The orientation of the body of the user 150 with respect to?

  On the other hand, the parameters indicating the peripheral state include, for example, the relative position (xi, yi) of the other person or the object with respect to the moving body 100, the relative speed vi of the other person or the object with respect to the moving body 100, the other person or the object with respect to the moving body 100. For example, the relative movement direction θi. The variable i is an integer of 1 or more, and is individually assigned to another person or object existing in the vicinity. That is, the variable i is a value for individually specifying other persons or objects existing in the vicinity.

  The relative position of the user 150 or another person or object existing in the periphery, the body orientation of the user 150, and the position of the right or left foot of the user 150 are, for example, a plurality of imaging devices provided around the main body 101. Each image picked up by (for example, a camera) is subjected to image processing, and can be acquired by performing edge extraction and pattern recognition.

  The recognition of whether or not the user is a user is performed based on, for example, storing a user's face image in advance and comparing the face image and the captured image. In addition, whether an object existing in the vicinity is a moving other person or a stationary object is also determined based on the captured image. On the other hand, the relative speed and the relative movement direction of the user 150 or another person or object existing in the vicinity are acquired based on, for example, each image acquired this time and each image acquired last time.

  The CPU converts each parameter in the moving object coordinate system acquired in S101 into the user coordinate system (S102), and ends this process. As a result of the process of S102, the relative parameter based on the moving body 100 is converted into the relative parameter based on the user 150.

  FIG. 4 is a flowchart showing a relative position control process executed by the CPU. The CPU executes this process in parallel with the state detection process (FIG. 3). This process is periodically executed every predetermined time (for example, every 0.1 second). This process is a process of moving the moving body 100 while adjusting the relative position with the user 150 in accordance with the movement of the user's 150 foot.

  The CPU determines whether the user 150 is walking (S201). Specifically, the CPU first calculates the moving speed of the user 150 from the speed of the moving body 100 with respect to the user 150 and the moving speed of the moving body 100 acquired by the state detection process. Next, the CPU determines whether or not the calculated moving speed of the user 150 is a value within a speed range when a human is walking.

  Then, the CPU determines that the user 150 is walking when it is determined that the moving speed of the user 150 is within a speed range during human walking. The “speed range during human walking” is, for example, greater than 0 [km / h] and not greater than 8 [km / h]. Since the walking speed varies depending on the user 150, a range set by the user 150 may be used.

  When it is determined that the user 150 is not walking (S201: No), the CPU ends this process. On the other hand, when the CPU determines that the user 150 is walking (S201: Yes), the CPU detects the walking state of the user 150 (S202). Specifically, the CPU analyzes an image captured by the camera of the sensing unit 10 and detects the walking state of the user 150, that is, the positions of the right foot and the left foot of the user 150.

  Alternatively, instead of directly detecting the foot based on the captured image, the foot may be detected indirectly. For example, according to the time change of the body orientation θB of the user 150 with respect to the moving body 100, the degree of shaking or twisting of the user 150's body is detected, and the right foot of the user 150 is determined based on the detected degree of shaking or twisting. Each position of the left foot may be detected.

  The CPU acquires the walking rhythm and stride of the user 150 (S203). The walking rhythm is, for example, the number of steps per unit time (ie, walking tempo). In S203, for example, the CPU takes a log of the position of the foot of the user 150 detected in S202, and calculates a walking rhythm and a stride based on the log.

Alternatively, the mobile unit 100 may be provided with a storage unit such as a flash memory, and the CPU may read the walking rhythm and stride of the user 150 prepared in advance in the storage unit. In addition, when using the walking rhythm and stride memorize | stored in a memory | storage part, it is good also as a structure which correct | amends according to the walking state of the user 150 detected in S202, and uses the value after correction | amendment.

  The CPU predicts the movement of the foot of the user 150 based on the position of the foot of the user 150 detected in S202 and the walking rhythm and stride acquired in S203 (S204). In other words, the CPU predicts, for example, how fast the foot on the stepping side moves with what trajectory, and when and where the foot touches. The process of S204 is an example of the prediction means in the present invention.

  The CPU calculates a target relative position of the moving body 100 with respect to the user 150 based on the predicted movement of the foot (S205). That is, the CPU calculates the movement target position of the moving body 100. Although details will be described later, in the present embodiment, the normal foot is provided in front of the reference foot so that the relative distance between the user 150 and the moving body 100 is widened while the user 150 is stepping on the reference foot. Within the first region, the movement target position of the moving body 100 is calculated. Note that the movement target position calculated in S205 is a position where the relative distance between the user 150 and the moving body 100 is slightly widened to the extent that the user 150 can be psychologically relieved.

  The “reference foot” is a foot on the side set by the user 150 out of the right foot or the left foot. The user 150 can set the side that is easy to use, for example, the dominant hand side, as the reference foot. On the other hand, when an object is detected in front of the reference foot, the movement target position is set so that the moving body 100 moves from the first region toward the second region in front of the foot different from the reference foot. Is done. The process of S205 is an example of a target setting unit in the present invention.

  The CPU adjusts the relative position between the moving body 100 and the user 150 by moving the moving body 100 toward the movement target position set in S205 (S206). That is, the CPU outputs a control signal to the drive unit 30 so that the moving body 100 moves toward the movement target position set in S205. The process of S206 is an example of the movement control means in the present invention. After the process of S206, the CPU shifts the process to S201.

  With reference to FIGS. 5 and 6, the movement target position calculated in S205 of the relative position control process described above will be described. FIG. 5A is a schematic diagram illustrating an example of a movement target position that increases the relative distance between the user 150 and the moving body 100 while the user 150 steps out the reference foot.

An area 120 is provided around the user 150. "Pieces of the region", so-called, is a psychological personal space, and at the same time is an area that I do not think preferably the intrusion of the other party, which is a region feel that the other party does not even want to invade. An exclusion area 121 is provided inside each area 120. The exclusion area 121 is an area that should be secured so that objects such as the moving body 100 and others do not enter. In the present embodiment, the individual areas 120 and the exclusion areas 121 are oval, but an appropriate shape such as a circle may be employed.

The moving body 100 has a front around the user 150, and more particularly, the inner pieces of region 120, and is controlled to move within the region 130 provided outside of the exclusion area 12 1. The region 130 is provided in a range of 180 degrees in front of the user 150 and centering on the user 150. The front boundary 130a in the region 130 is set to a natural distance in that the user 150 moves with the user 150.

  In the example of FIG. 5A, the region 130 is provided so that the boundary 130a is inside the individual regions 120. However, if the boundary 130a does not exceed the individual regions 120, the region 130 is displayed. An appropriate size can be set. Further, the range of the region 130 is not limited to the range of 180 degrees centered on the user 150, and may be within the range of the field of view of the user 150, for example.

  The area 130 is divided into two areas 130L and 130R on the left and right sides for the user 150. In the present embodiment, as shown in FIG. 5A, the regions 130L and 130R are the regions obtained by equally dividing the region 130 into left and right, but the regions 130L and 130R may have different sizes. Further, the region 130L and the region 130R may be discontinuous.

  In the present embodiment, the moving body 100 moves the reference foot within the range of the region 130L or the region 130R on the side set by the user 150 as the reference foot among the right foot 150R and the left foot 150L of the user 150 in a normal state. Configured to move accordingly. For example, when the reference foot is set to the right foot 150R, the moving body 100 moves within the region 130R according to the movement of the right foot 150R.

  Thereby, the moving body 100 can be moved on the side of the reference foot set by the user 150. For example, when the user 150 sets the dominant hand side as the reference foot, the moving body 100 can be moved on the dominant hand side. In this case, the user 150 can obtain a sense of security by positioning the moving body 100 on the dominant hand side, and can operate the moving body 100 with the dominant hand. Moreover, since the situation where the moving body 100 crosses in front of the user 150 can be suppressed, it can be suppressed that the user 150 feels bothered by the moving body 100 crossing the front or contacts the user 150 moving forward.

  For example, as shown in FIG. 5A, when the right foot 150R that is the reference foot is stepped and moving forward, the relative distance between the moving body 100 and the user 150 is the front of the user 150, that is, The movement target position 101 of the moving body 100 is calculated within the range of the area 130 so as to become wider in the direction of the arrow A.

  Thereby, when the right foot 150R is stepped and moves forward, the moving body 100 has a relative distance to the front of the user 150 when the right foot 150R is not stepped, for example, when the right foot 150R is grounded. Compared to wider. Therefore, it is possible to prevent the right foot 150R that moves forward by stepping, that is, the reference foot that moves forward by stepping, from contacting the moving body 100. Therefore, it is possible to suppress a situation in which the moving body 100 interferes with the user 150 moving forward.

  On the other hand, FIG. 5B is a schematic diagram illustrating another example of the movement target position that increases the relative distance between the user 150 and the moving body 100 while the user 150 steps on the reference foot. In the example shown in FIG. 5B, when the right foot 150R as the reference foot is stepped and moving forward, the relative distance between the moving body 100 and the user 150 is the right side of the user 150, that is, the user. The movement target position 101 of the moving body 100 is calculated within the range of the region 130 so as to become wider in the direction toward the outside of the right foot 150 </ b> R (the direction of arrow B) among the 150 left and right directions. When the reference foot is the left foot 150L, the movement target position 101 is calculated so that the relative distance between the moving body 100 and the user 150 becomes wider to the left of the user 150.

  Thereby, when the right foot 150R is stepped and moves forward, the moving body 100 has a relative distance to the right of the user 150 when the right foot 150R is not stepped, for example, when the right foot 150R is grounded. Wider than Therefore, it is possible to prevent the right foot 150R that moves forward by stepping, that is, the reference foot that moves forward by stepping, from contacting the moving body 100.

  In the above description, when the reference foot is stepped and moving forward, the movement target position 101 is calculated so that the relative distance between the moving body 100 and the user 150 becomes wider as described above. did. Instead, the moving target position 101 may be calculated so that the relative distance between the moving body 100 and the user 150 is wide only when the stepped reference foot is accelerating forward. .

  In addition, the moving target position 101 is calculated so that the relative distance between the moving body 100 and the user 150 is wide in the forward direction and wide in the direction toward the outside of the right foot 150R in the left-right direction of the user 150. Also good. For example, when the reference foot is the right foot 150R, the movement target position 101 may be calculated so that the relative distance between the moving body 100 and the user 150 is widened to the front right.

  FIG. 6 is a schematic diagram illustrating an example of the movement target position calculated when the object 300 is detected in front of the reference foot of the user 150. In FIG. 6, it is assumed that the reference foot is the right foot 150R. When the object 300 is detected in front of the right foot 150R, the moving target position 101 is set so that the moving body 100 moves from the region 130R toward the region 130L in front of the foot different from the reference foot (that is, the left foot 150L). Is calculated. Thereby, since the moving body 100 located in the area 130R moves into the area 130L, the possibility that the moving body 100 contacts the object 300 existing in front of the right foot 150R is suppressed. Note that the same applies to a case where a person (that is, another person) is detected, not only when the object 300 is detected in front.

In the present embodiment, as shown in FIG. 6, when moving the moving body 100 from the region 130 </ b> R to the region 130 </ b> L, the movement target position 101 is such that the movement locus becomes a locus E that bulges forward with respect to the user 150. Are sequentially calculated. Thus, the moving body 100, and the front region 130R of the right foot 1 5 0R to areas 130L, when crossing the previous user 150, can be suppressed right foot 1 5 0R contacts the moving body 100.

  In the example shown in FIG. 6, after the moving body 100 moves to the position 100a in the region 130L, the reference foot is temporarily set to the left foot 150L, and in accordance with the stepping of the left foot 150L, as in the case of the right foot 150R described above. The relative distance between the moving body 100 and the user 150 is controlled. Then, when the user 150 passes by the side of the object 300 and there is no possibility of contact with the object 300, the moving body 100 is moved from the region 130L to the region 130L in the same manner as when the moving body 100 is moved from the region 130R to the region 130L. Move to 130R. When the moving body 100 moves to the region 130R, the reference foot is returned to the original right foot 150R.

  Alternatively, after the moving body 100 moves to the position 100a in the area 130L, until the new object is detected in front of the left foot 150L, the reference foot is the left foot 150L and the reference foot is the right foot 150R. It is good also as a structure which controls the movement of the mobile body 100. FIG. In such a case, when a new object is detected in front of the left foot 150L, the moving body 100 is moved from the region 130L to the region 130R in the same manner as when the moving body 100 is moved from the region 130R to the region 130L. When the moving body 100 moves to the region 130R, the reference foot is returned to the original right foot 150R.

  According to the moving body 100 of the present embodiment, the state of the user 150 moving forward is detected by the sensing unit 10, and the movement of the user 150's foot is predicted based on the input from the sensing unit 10. Based on the predicted movement of the foot, the movement target position of the moving body 100 is calculated, and the moving body 100 is moved to the calculated movement target position. Thereby, the moving body 100 can be sequentially moved with respect to the user who moves forward according to the movement of the user's foot.

  In particular, when the stepped foot moves forward, the relative distance between the moving body 100 and the user 150 is such that the relative distance between the moving body 100 and the user 150 is outward from the stepped foot in the left or right direction of the user 150. Since the movement target position 101 is calculated such that the relative distance becomes larger, it is possible to prevent the foot moving forward by the stepping from contacting the moving body 100. Thereby, the situation where the moving body 100 interferes with the user 150 moving forward is suppressed.

  In addition, according to the present embodiment, the prediction of the movement of the foot of the user 150 is predicted based on the rhythm and the stride that is calculated based on the input from the sensing unit 10 and moves the foot when the user 150 moves forward. . Therefore, the motion of the foot can be predicted by a relatively simple calculation.

  As described above, the present invention has been described based on the embodiments, but the present invention is not limited to the above-described embodiments, and various improvements and modifications can be easily made without departing from the spirit of the present invention. It can be guessed.

  For example, the numerical values given in the above embodiment are merely examples, and other numerical values can naturally be adopted.

  In the above embodiment, during the normal time, the user 150 moves in accordance with the movement of the reference foot within the region 130L or the region 130R on the side set as the reference foot among the right foot 150R and the left foot 150L of the user 150. It was configured as follows. Instead, each time the right foot 150R or the left foot 150L is stepped, based on the movement of the stepped foot, the moving body located in the area in front of the stepped foot is different from the stepped foot. It is good also as a structure which calculates a movement target position so that it may move to.

  According to the present modification, the moving body 100 can be positioned in front of the foot on which no stepping is performed, so that the moving body 100 can be prevented from coming into contact with the foot that moves forward due to the stepping. Also in this modified example, as shown in FIG. 6, the movement trajectory of the moving body 100 swells forward with respect to the user 150, or the moving timing of the moving body 100 is considered as shown in FIG. 7. Is preferred.

  In the above embodiment, when the object 300 is detected in front of the reference foot of the user 150, as shown in FIG. 6, when the moving body 100 is moved from the region 130R to the region 130L, the movement locus is the user 150. The movement target position 101 is calculated so that the locus E bulges forward. By considering the moving timing of the moving body 100, the moving body 100 may be moved from the area 130R to the area 130L along a path shorter than the path E.

  7 and 8 are schematic diagrams for explaining the present modification. In this modified example, when the object 300 is detected in front of the reference foot of the user 150, the moving body touches the foot different from the reference foot from the front of the reference foot during the stepping of the foot different from the reference foot. The movement target position is calculated so as to reach the front of the ground contact position of the foot different from the reference foot at a timing near the position where the foot moves differently from the reference foot and the foot different from the reference foot contacts the ground.

  That is, when the reference foot is the right foot 150R and the object 300 is detected in front of the reference foot (the right foot 150R), as shown in FIG. 7, the moving body 100 moves the right foot 150R while the left foot 150L is stepped on. The movement target position 101 is calculated so that it moves from the front toward the front of the ground contact position of the left foot 150L and reaches the position 100a in front of the ground contact position of the left foot 150L at the timing near the ground contact of the left foot 150L.

  Thereby, since the moving body 100 located in front of the reference foot crosses in front of the user 150 and moves to the front of the left foot 150L, the possibility that the moving body 100 contacts the object 300 is suppressed. At this time, the moving body 100 traverses the front of the reference foot (right foot 150R) as an axis without stepping on and is moved to the front of the ground contact position of the stepped foot (left foot 150L). In the situation of crossing, it can suppress that the mobile body 100 contacts the leg | foot 150R, 150L of the user 150. FIG.

  Further, when moving the moving body 100 in consideration of the moving timing, the moving body 100 crosses the front of the foot as an axis without being stepped on. Therefore, as shown in FIG. On the other hand, it is not necessary to set it as the movement locus | trajectory E (FIG. 6) which swells ahead. Therefore, the moving body 100 can be moved along a relatively short movement locus F. Thereby, since the time which the mobile body 100 crosses the front of the user 150 can be shortened by that much, the uncomfortable feeling that the user 150 receives when the mobile body 100 crosses the front can be suppressed.

  Regardless of the presence of the object 300, each time the right foot 150R or the left foot 150L is stepped on, the moving body 100 moves from the front of the foot different from the stepped foot toward the front of the ground contact position of the stepped foot. The moving target position may be calculated so as to reach the front of the grounding position of the stepped foot at a timing near the point where the foot that has moved and stepped on touches the ground.

  In the above embodiment, when the reference foot moves forward by stepping, the movement target is such that the relative distance in the direction toward the outside of the stepped foot in front of the user 150 or in the left and right direction of the user 150 is widened. The position 101 is calculated. Instead, a configuration in which the moving body 100 calculates a movement target position 101 such that the relative distance in the direction toward the inner side from the stepped foot of the user 150 in the left and right directions of the user 150 is widened. It is good. For example, when the reference foot is the right foot 150R, the movement target position 101 may be calculated so that the relative distance in the left front direction of the user 150 becomes wide.

  In the above-described embodiment, in the relative position control process (FIG. 4), the process of S202 to S206 is executed on the condition that it is walking. However, the speed of the small run is executed in the process of S202 to S206. You may include as conditions to do.

In the above-described embodiment, the control unit 20 is configured to convert each parameter in the moving body coordinate system into the user coordinate system and grasp the surrounding state on the basis of the state of the user 150. Instead of this, the control unit 20 may be configured to grasp the user 150 and surrounding states from each parameter (that is, each parameter acquired based on an input from the sensing unit 10) in the moving body coordinate system. Good.

100 mobile 150 users

Claims (5)

A moving object,
User detection means for detecting the user's situation;
Predicting means for predicting the movement of the user's foot moving forward based on the user's situation detected by the user detecting means;
Based on the movement of the foot that is stepped forward predicted by the prediction means, of the right foot or the left foot of the user, the moving body is moved so as to move toward the front of the foot opposite to the stepped foot. Target setting means for setting the movement target position ;
Movement control means for moving the moving body toward the movement target position set by the target setting means;
A moving object comprising: The target setting means, the movement locus of the moving body to bulge forwardly relative to the user, the moving body according to claim 1, characterized in that for setting the movement target position. A moving object,
User detection means for detecting the user's situation;
Predicting means for predicting the movement of the user's foot moving forward based on the user's situation detected by the user detecting means;
Based on the movement of the foot predicted by the predicting means, during the stepping of one of the right foot or the left foot of the user, the moving body stepped out from the front of the foot different from the stepped foot. A target setting that moves toward the front of the ground contact position of the foot and sets the movement target position of the moving body so as to reach the front of the ground contact position of the stepped foot at the timing near the stepped foot grounds Means,
Movement control means for moving the moving body toward the movement target position set by the target setting means;
Moving body, characterized in that it comprises a. It is equipped with a surrounding situation detection means for detecting the surrounding situation,
The target setting means uses one of the user's right foot or left foot as a reference foot, and when an object is detected in front of the reference foot by the surrounding state detection means, a step of a foot different from the reference foot The moving body moves from the front of the reference foot toward the front of the ground contact position of the foot different from the reference foot, and at the timing near the time when the foot different from the reference foot contacts the ground. 4. The moving body according to claim 3 , wherein the movement target position is set so as to reach the front of the ground contact position of the foot different from the foot. The prediction means calculates a rhythm and stride to move a foot when the user moves forward based on the user situation detected by the user detection means, and based on the calculated rhythm and stride, the user The moving body according to any one of claims 1 to 4 , wherein the movement of the foot is predicted.

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