Autonomous Running Apparatus Gaze Region Navigation
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Solution Overview
Problem
Autonomous running apparatuses fail to safely navigate around individuals using wheelchairs due to differences in gaze patterns, leading to potential collisions and recognition issues, as they do not account for the distinct gaze characteristics of wheelchair users.
Innovation Solution
A running information generating apparatus that identifies the type of moving person, calculates their gaze region based on position, direction, and type, and adjusts the autonomous running apparatus's route to enter the gaze region earlier than the approach time, ensuring safe navigation and recognition by the wheelchair user.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous running apparatus uses a conventional route planning method that does not consider gaze characteristics, then the route planning is simple and fast, but the moving person (especially wheelchair users) may not recognize the apparatus presence securely leading to safety issues
Solution Approach 1:
The system performs preliminary identification of the moving person's type (wheelchair user or pedestrian) and calculates their gaze characteristics before generating the route. The gaze region is pre-calculated based on the person's position, direction, and type, allowing the route planning to account for recognition requirements in advance, thereby improving safety without excessive complexity during execution.
Solution Approach 2:
The system changes the route planning parameters by incorporating gaze region calculations specific to different moving person types. For wheelchair users, the gaze region is calculated differently than for pedestrians, adjusting the route generation to enter these regions appropriately. This parameter adaptation enables safety improvement while maintaining manageable system complexity.
2Reliability
If the autonomous running apparatus enters the gaze region at the approach time, then the route is efficient and direct, but the moving person may not have sufficient time to recognize the apparatus presence
Solution Approach 1:
The system calculates the gaze region in advance and determines the optimal entry time before the approach time. By performing this calculation preliminarily, the system can plan to enter the gaze region earlier without disrupting the overall efficient routing, allowing the moving person sufficient time to recognize the apparatus while maintaining route effectiveness.
Solution Approach 2:
The system uses the calculated gaze region information to self-adjust its routing timing. By autonomously determining when to enter the gaze region based on pre-calculated parameters, the system ensures adequate recognition time without requiring external intervention or complex real-time adjustments, thus balancing safety and time efficiency.
3Reliability
If the autonomous running apparatus does not identify the type of moving person, then the system operation is simple, but it cannot account for different gaze characteristics leading to collision risks
Solution Approach 1:
The system segments moving persons into distinct types (wheelchair users and pedestrians) based on identification results. This segmentation allows the system to apply different gaze region calculation methods for each type, improving collision avoidance through type-specific handling while keeping the overall operation manageable by using clear classification categories.
Solution Approach 2:
The system changes operational parameters by adapting gaze region calculations to the identified moving person type. For wheelchair users, the gaze region parameters differ from those for pedestrians, enabling more accurate collision avoidance. This parameter adaptation improves safety while maintaining ease of operation through automated type-based adjustments.
Data Source
AI summary
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.