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US 11,378,960 B2Granted
Mobile entity
AssigneeHitachi, Ltd.
InventorsAkihiro Yamamoto, Ryosuke Nakamura, Azusa Amino, Taishi Ueda
Life of this patent
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Abstract
A mobile entity includes: a position decision unit configured to determine a position of itself; an environment information acquisition unit configured to acquire environment information at the position; and a motion determination unit configured to determine whether a motion scheduled to be performed holds based on the environment information. The environment information includes at least one of environment information related to a vocal apparatus and environment information related to a display device.
Claims6
A mobile entity comprising;
- an attitude angle detecting device configured to detect an attitude angle of a mobile entity;
- a processor which, when executing a program, configures the processor to:
- determine a position of the mobile entity;
- acquire environment information at the position, the environment information including an inclination angle of a floor surface;
- and
- estimate a state that the mobile entity stands upright or falls down, based on the detected attitude angle of the mobile entity and the acquired inclination angle of the floor surface as the environment information and determine whether a motion where the mobile entity returns from a state of having fallen over is to be used if an attitude angle θ of the mobile entity satisfies π/2−α−θc≤θ≤π/2−α+θc, wherein α is the inclination angle of the floor surface and θc indicates a detection error.
3 more elements
Dependencies are inferred from the claim text.