Patent ID: 9434074
Filing Date: 2016-09-06
CPC Classification: B25J,G05B,G05D,Y10S

Claim Text:
1. An autonomous running control method of an autonomous running apparatus for changing a running route of the autonomous running apparatus according to a motion of a person with respect to the autonomous running apparatus that runs towards a destination given in advance, the method comprising: controlling running of the autonomous running apparatus along a first route where an autonomous running controller avoids the person when the person is likely to contact with the autonomous running apparatus according to a position history of the person for predetermined time; deciding whether the person has an intention to approach and make contact the autonomous running apparatus in a contact intention deciding unit after the autonomous running apparatus runs along the first route; generating a second route where the autonomous running apparatus approaches the person in an access route generating unit when decision is made that the person has the intention to approach and make contact with the autonomous running apparatus; and controlling the running of the autonomous running apparatus along the second route in the autonomous running controller so that the autonomous running apparatus makes contact with the person.